Electromagnetic compatibility system and cleaning robot

Abstract

The utility model provides an electromagnetic compatibility system and a cleaning robot, and the system comprises an energy storage unit which is used for providing a working current; the input end of the driving control assembly is connected with the energy storage unit through a first connecting line, the output end of the driving control assembly is connected with load equipment through a second connecting line, and the driving control assembly is used for receiving the working current and driving the load equipment to operate; the first shielding unit is arranged on the first connecting line and is used for shielding high-frequency interference generated when the energy storage unit outputs the working current; the second shielding unit is arranged on the driving control assembly and used for shielding high-frequency interference generated during operation of the load equipment; according to the system provided by the invention, the current output from the energy storage unit to the driving control assembly is more stable by using the first shielding unit; meanwhile, the interference of the operation of the load equipment on the driving control assembly is suppressed by using the second shielding unit, and the working stability of the driving control assembly is ensured, so that the electromagnetic compatibility system can work normally in a complex electromagnetic environment.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an electromagnetic compatibility system and a cleaning robot. Background Art

[0002] Nowadays, robots are becoming more and more intelligent. They are equipped with a large number of high-precision sensors, PCB boards, high-power motors, push rods and other loads. The power lines, analog signal lines and digital signal lines are intertwined, and electromagnetic interference is serious, which often leads to various problems. For example, the USB cable is powered normally, but the transmission signal cannot be monitored; for example, the 3V3 signal acquisition board often loses power for unknown reasons, which affects the normal operation of the robot.

[0003] In order to ensure the normal operation of the robot in a complex electromagnetic environment, an electromagnetic compatibility system and a cleaning robot are proposed. Utility Model Content

[0004] In view of the above problems, the present application provides an electromagnetic compatibility system and a cleaning robot, which can ensure that the robot works normally in a complex electromagnetic environment.

[0005] The embodiment of the present application is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present application provides an electromagnetic compatibility system, comprising: an energy storage unit, the energy storage unit being used to provide a working current; a drive control component, the input end of the drive control component being connected to the energy storage unit via a first connecting line, and the output end being connected to the load device via a second connecting line, for receiving the working current provided by the energy storage unit and driving the load device connected to the drive control component to operate; a first shielding unit, the first shielding unit being arranged on the first connecting line, for shielding high-frequency interference generated when the energy storage unit outputs the working current; and a second shielding unit, the second shielding unit being arranged at a position of the drive control component close to the second connecting line, for shielding high-frequency interference generated when the drive control component drives the load device to operate.

[0007] In some embodiments, the first shielding unit includes a magnetic ring, and the magnetic ring is sleeved on the first connecting line and close to the connection between the first connecting line and the energy storage unit.

[0008] In some embodiments, the drive control component includes a printed circuit board, and the second shielding unit includes a magnetic bead, which is disposed on the printed circuit board near a connection position between the printed circuit board and the second connecting line.

[0009] In some embodiments, the printed circuit board includes a power board and a driving board, the input end of the power board is connected to the energy storage unit through the first connecting line, and the output end is connected to the input end of the driving board, and is used to convert the working current provided by the energy storage unit and supply it to the driving board; the output end of the driving board is connected to the load device through the second connecting line, and the magnetic bead is arranged on the driving board near the connection position between the driving board and the second connecting line.

[0010] In some embodiments, the drive control component also includes a controller, and the printed circuit board also includes a signal acquisition board, the power supply end of the signal acquisition board is connected to the output end of the power supply board, the input end is connected to the sensor through a signal line, and the output end is connected to the input end of the controller, and is used to receive sensor data collected by the sensor and send the converted sensor data to the controller; the input end of the controller is also connected to the sensor through a signal line, and the output end is connected to the input end of the drive board, and is used to receive data sent by the sensor and the signal acquisition board and control the drive board to drive the load device according to the data.

[0011] In some embodiments, the signal line is a shielded twisted pair line, and a shielding layer of the signal line is connected to a ground terminal of the printed circuit board.

[0012] In the second aspect, the present application provides a cleaning robot, comprising: a body, walking wheels, a load device and the above-mentioned electromagnetic compatibility system, wherein the electromagnetic compatibility system comprises an energy storage unit, a drive control component, a first shielding unit and a second shielding unit, the energy storage unit is connected to the drive control component via a first connecting line, the drive control component is connected to the load device via a second connecting line, the first shielding unit is arranged on the first connecting line, and the second shielding unit is arranged on the drive control component; the walking wheels are arranged at the bottom of the body; the load device, the energy storage unit and the drive control component are all arranged on the body.

[0013] In some embodiments, the drive control component includes a printed circuit board, the body is a metal body, and the cleaning robot also includes a connector, and the printed circuit board is fixed to the metal body through the connector so that the printed circuit board is suspended, and the connector is an insulating material.

[0014] In some embodiments, the cleaning robot further includes a first wiring groove and a second wiring groove, the first wiring groove and the second wiring groove are separated from each other, the first wiring groove is used to store the first connecting line and the second connecting line, and the second wiring groove is used to store the signal line.

[0015] In some embodiments, the body is a metal body, and the cleaning robot is further provided with a metal guide chain, one end of the metal guide chain is connected to the metal body, and the other end of the metal guide chain is in contact with the ground.

[0016] The electromagnetic compatibility system and cleaning robot provided in the embodiment of the present application include: an energy storage unit, which is used to provide a working current; a drive control component, the input end of which is connected to the energy storage unit through a first connecting line, and the output end is connected to the load device through a second connecting line, for receiving the working current provided by the energy storage unit and driving the load device connected to the drive control component to operate; a first shielding unit, which is arranged on the first connecting line and is used to shield the high-frequency interference generated when the energy storage unit outputs the working current; a second shielding unit, which is arranged at a position of the drive control component close to the second connecting line, and is used to shield the high-frequency interference generated when the drive control component drives the load device to operate; through the electromagnetic compatibility system provided by the present application, the first shielding unit is used to shield the high-frequency interference generated when the energy storage unit outputs the working current, so that the current output to the drive control component is purer, thereby ensuring the working stability of the drive control component; at the same time, the second shielding unit is used to shield the high-frequency interference generated when the drive control component drives the load device to operate, so that the electromagnetic interference generated when the load device is operating is suppressed, further ensuring the working stability of the drive control component, and thus enabling the electromagnetic compatibility system to work normally in a complex electromagnetic environment.

[0017] These and other aspects of the present application will become more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the electromagnetic compatibility system provided in the embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0022] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0023] With the rapid development of science and technology and the diversification of consumer demand, various products are gradually tending to develop intelligently, and the functions of products are becoming more and more abundant. For example, sweeping robots have gradually developed from traditional vacuum cleaners to all-in-one sweeping and mopping robots, which can not only sweep the floor, but also integrate video surveillance, voice broadcasting, automatic cleaning and other functions; and the richness of product functions will inevitably lead to the complexity of product structure; for example, the robot will be equipped with a large number of components, such as high-precision sensors, PCB boards, and high-power motors, push rods and other loads. Since many components are installed in the same space, and various power lines, analog signal lines, and digital signal lines between multiple components are crossed with each other, the robot's electromagnetic interference is serious, which can easily lead to the robot's inability to operate normally. For example, the USB cable is powered normally, but the transmission signal cannot be detected; the 3V3 signal acquisition board is often powered off, etc.

[0024] In order to solve the above problems, the present application provides an electromagnetic compatibility system, which includes: an energy storage unit, which is used to provide a working current; a drive control component, the input end of the drive control component is connected to the energy storage unit through a first connecting line, and the output end is connected to a load device through a second connecting line, and is used to receive the working current provided by the energy storage unit and drive the load device connected to the drive control component to operate; a first shielding unit, which is arranged on the first connecting line, and is used to shield the high-frequency interference generated when the energy storage unit outputs the working current; a second shielding unit, which is arranged at a position of the drive control component close to the second connecting line, and is used to shield the high-frequency interference generated when the drive control component drives the load device to operate.

[0025] Through the electromagnetic compatibility system provided by the present application, the first shielding unit is used to shield the high-frequency interference generated when the energy storage unit outputs the working current, so that the current output to the drive control component is purer, thereby ensuring the working stability of the drive control component; the second shielding unit is used to shield the high-frequency interference generated when the drive control component drives the load device to run, so that the electromagnetic interference generated when the load device is running is absorbed, further ensuring the working stability of the drive control component, and thus enabling the electromagnetic compatibility system to work normally in a complex electromagnetic environment.

[0026] The embodiments provided in this application will be described below with reference to the accompanying drawings.

[0027] See also Figure 1 , Figure 1 A structural schematic diagram of the electromagnetic compatibility system provided in an embodiment of the present application is given, and the electromagnetic compatibility system includes an energy storage unit 10, which is used to provide a working current; a drive control component 20, the input end of which is connected to the energy storage unit 10 through a first connecting line, and the output end is connected to the load device through a second connecting line, and is used to receive the working current provided by the energy storage unit 10 and drive the load device connected to the drive control component 20 to operate; a first shielding unit 30, which is arranged on the first connecting line, and is used to shield the high-frequency interference generated when the energy storage unit outputs the working current; a second shielding unit 40, which is arranged at a position of the drive control component 20 close to the second connecting line, and is used to shield the high-frequency interference generated when the drive control component 20 drives the load device to operate.

[0028] The energy storage unit 10 may be a rechargeable battery such as a lithium-ion battery or a nickel-metal hydride battery, or may be other components capable of storing energy and supplying power, and no specific limitation is made herein.

[0029] It is worth mentioning that the energy storage unit 10 has two processes, charging and discharging. Taking the energy storage unit 10 as a rechargeable battery as an example, during the charging and discharging process of the rechargeable battery, the internal resistance of the battery will change, thereby causing the charging current or discharging current of the rechargeable battery to change; for example, during the charging process, at the beginning of charging, the internal resistance of the battery is large, and the charging current is relatively large. As the charging proceeds, the internal resistance of the battery gradually decreases, the capacity of the battery gradually increases, and the charging current gradually decreases, until the rechargeable battery is fully charged, the charging current will drop to zero; the discharging process is the opposite of the charging process. As the discharging proceeds, the internal resistance of the battery will gradually increase, and the current will gradually decrease; in addition, during the charging and discharging process, changes in the temperature of the rechargeable battery will also affect the internal resistance of the battery and the current of the battery.

[0030] Furthermore, the changing current will excite the electromagnetic field, causing the electromagnetic field in space to change, thereby generating electromagnetic radiation. The electromagnetic radiation can leak out of the current circuit and interfere with other circuits, that is, generate electromagnetic interference (EMI, a type of electronic noise that interferes with cable signals and reduces the integrity of signals, resulting in an increase in error rates or even complete loss of data), thereby affecting the normal operation of other lines.

[0031] In some implementations, in order to reduce the impact of electromagnetic interference on other lines, other lines may be kept away from the energy storage unit to reduce the impact of electromagnetic interference on other lines.

[0032] In other embodiments, due to the limitations of application scenarios, such as electromagnetic compatibility systems are often used in robots and other equipment, which require the installation of numerous components within an effective space, the energy storage unit 10 can only be installed near other components (such as controllers, circuit boards). In order to reduce the electromagnetic interference of the energy storage unit 10 to other components, shielding devices can also be added to convert the generated electromagnetic field into other energy, thereby suppressing electromagnetic interference.

[0033] In the embodiment of the present application, by setting the first shielding unit 30 on the first connecting line between the energy storage unit 10 and the drive control component 20, the electromagnetic interference generated by the energy storage unit 10 to the drive control component 20 when outputting the working current can be shielded.

[0034] The first shielding unit 30 may be a device that can suppress noise, such as a capacitor, a magnetic bead, a magnetic ring, a filter, etc.; wherein the noise refers to all signals in the circuit except the target signal.

[0035] Exemplarily, in some embodiments, the first shielding unit 30 includes a magnetic ring, which is sleeved on the first connecting line and close to the connection between the first connecting line and the energy storage unit 10 .

[0036] It can be understood that, for the drive control component 20, the energy storage unit 10 not only serves as a power source for providing working current, but also is a source of interference that generates electromagnetic interference. By arranging the magnetic ring on the first connecting line and close to the connection between the first connecting line and the energy storage unit 10, the magnetic ring is closer to the interference source, thereby better suppressing high-frequency interference noise and improving the stability of the working current received by the drive control component 20.

[0037] The drive control component 20 may include control components such as a printed circuit board (PCB), a controller, and an integrated chip.

[0038] It can be understood that when the drive control component 20 drives the load device to operate, the drive control component 20 needs to provide a working current or a working voltage to the connected load device. The stability of the working current or the working voltage output by the drive control component 20 determines the stability of the operation of the load device connected to it; and during the operation of some load devices (such as pumps, valves, brushed motors, push rods and other load devices), high-frequency interference will also be generated, which will reversely affect the stability of the working current or the working voltage output by the drive control component 20, thereby affecting the working stability of the load device.

[0039] Therefore, in the embodiment provided in the present application, the second shielding unit 40 is disposed at a position of the drive control component 20 close to the second connecting line to shield high-frequency interference generated when the drive control component 20 drives the load device to operate.

[0040] The second shielding unit 40 may be a device capable of suppressing noise, such as a capacitor, a magnetic bead, a magnetic ring, a filter, etc.

[0041] Illustratively, in some embodiments, the drive control assembly 20 includes a printed circuit board, and the second shielding unit 40 includes a magnetic bead, which is disposed on the printed circuit board near a connection position between the printed circuit board and the second connecting line.

[0042] It is understandable that the printed circuit board can have multiple output terminals, each of which can be connected to multiple load devices through the second connecting line. By setting the magnetic beads on the printed circuit board and close to the connection position between the printed circuit board and the second connecting line, it is possible to use one magnetic bead to suppress the high-frequency interference of multiple load devices, thereby reducing costs. Of course, in other embodiments, a corresponding shielding unit can also be set for each load device, such as adding a magnetic ring to the connecting line of each device.

[0043] It should be noted that when selecting the specific components included in the first shielding unit 30 and the second shielding unit 40, it is necessary not only to determine the type of components according to the usage scenario, such as only magnetic beads can be added to the PCB board, and both magnetic beads and magnetic rings can be added to the connecting wires; it is also necessary to determine the specific specifications of the components according to the rated value of the voltage or current and the operating parameters such as impedance, so that the first shielding unit 30 and the second shielding unit 40 can achieve the shielding effect under the corresponding operating parameters.

[0044] In some embodiments, considering that the drive control component 20 needs to implement different functions, multiple printed circuit boards may be provided, or multiple different functional areas may exist on one printed circuit board. For example, the printed circuit board includes a power board and a drive board. The input end of the power board is connected to the energy storage unit 10 through a first connecting line, and the output end is connected to the input end of the drive board, so as to convert the working current provided by the energy storage unit 10 and supply it to the drive board; the output end of the drive board is connected to the load device through a second connecting line, and the magnetic bead is arranged on the drive board near the connection position between the drive board and the second connecting line.

[0045] Among them, by converting the working current through the power board, the converted working current can meet the rated working current of the driving board.

[0046] It can be understood that when the power board and the driver board are different areas of a printed circuit board, the connection between the power board and the driver board is realized through the printed circuit on the printed circuit board; when the power board and the driver board are different printed circuit boards, the connection between the power board and the driver board can be connected through a flat cable.

[0047] Among them, the second connecting line connecting the driving board and the load device can be a power line or a power line; among them, the second connecting line used to transmit two-phase electricity is called a power line, and the second connecting line used to transmit three-phase electricity is called a power line.

[0048] In some embodiments, in order to further suppress high-frequency interference between the load device and the drive control component 20, the second connecting line uses a twisted pair cable; wherein the twisted pair cable (Twisted Pair, TP) is composed of two copper wires with an insulating protective layer. The two insulated copper wires are twisted together at a certain density. The radio waves radiated by each wire during transmission will be offset by the radio waves emitted by the other wire, effectively reducing the degree of electromagnetic interference.

[0049] In other embodiments, in order to control the driver board to drive the load device, the drive control component 20 also includes a controller, and the printed circuit board also includes a signal acquisition board. The power supply end of the signal acquisition board is connected to the output end of the power supply board, the input end is connected to the sensor through a signal line, and the output end is connected to the input end of the controller, and is used to receive sensor data collected by the sensor and convert the sensor data and send it to the controller; the input end of the controller is also connected to the sensor through a signal line, and the output end is connected to the input end of the driver board, and is used to receive data sent by the sensor and the signal acquisition board and control the driver board to drive the load device according to the data.

[0050] Among them, the controller can be a control device such as a CPU controller, a combinational logic controller, etc.; further, the controller can receive multiple data signals, and can directly receive data signals collected by the sensor, and can also receive data signals converted by the signal acquisition board. The controller controls the driver board to drive the load device to operate according to the data collected by the sensor, thereby realizing automatic control of the load device.

[0051] It is worth mentioning that due to the large number of sensors, the types of sensor data generated by different sensors may be different (for example, sensor data may include various signals such as analog signals, digital signals, audio signals, temperature signals, etc.). According to the type of sensor data, it can be determined whether the sensor data needs to be sent to the signal acquisition board for conversion before being sent to the controller.

[0052] It can be understood that part of the sensor data collected by the sensor is transmitted to the signal acquisition board, which converts the signal collected by the sensor and sends it to the controller; the other part is directly transmitted to the controller, and the controller controls the driver board to drive the load device according to the received data.

[0053] Among them, the signal acquisition board is a circuit board for collecting signals, which can collect multiple signals and convert them into processable data.

[0054] In other implementations, the signal acquisition board can further display the signal through programming and touch screen display functions to facilitate viewing of the current status of multiple sensors.

[0055] Among them, the signal line is a line used to transmit signals, usually used to connect electronic devices so as to transmit data, control signals, etc. between devices. There are many types and specifications of signal lines. Different types of signal lines can be selected according to different application scenarios and transmission requirements. For example, 485 bus, 232 line, TTL line (Transistor-Transistor Logic), CAN line, USB line and network cable are all different types of communication lines, each of which has different characteristics and application scenarios.

[0056] Among them, the RS485 bus is suitable for communication distances ranging from tens of meters to thousands of meters; the RS232 line is used for data transmission between computers and other devices; the TTL line is suitable for lines that use TTL level signals for communication; the CAN bus is the abbreviation of the controller area network, which is suitable for distributed real-time control serial communication networks; the USB communication line has a fast communication speed and can connect multiple devices; the network cable is suitable for transmitting network data.

[0057] It is worth mentioning that in electronic circuits, signal lines usually transmit low-power signals without large currents, such as control signals, data signals, etc. Compared with power lines, signal lines have smaller voltages and currents, so the requirements for insulation and shielding are relatively low.

[0058] In some embodiments, the signal line is a shielded twisted pair line, and the shielding layer of the signal line is connected to the ground terminal of the printed circuit board.

[0059] Among them, shielded twisted pair (STP) is a copper twisted pair cable widely used for data transmission, including double-shielded twisted pair (SFTP) and overall shielded twisted pair (FTP). SFTP refers to, while FTP is a shielded twisted pair cable with overall shielding.

[0060] In other embodiments, considering that the sensor and the signal acquisition board may not be able to connect due to interface mismatch, the drive control component 20 may also include a sensor data adapter board. The sensor is connected to the sensor data adapter board through a signal line and then connected to the signal acquisition board through a signal line, thereby realizing the connection of different interfaces.

[0061] It should be noted that a shielding layer is provided in the shielded twisted pair cable, and the shielding layer can only play a shielding role when it is well grounded. Therefore, the shielding layer needs to be connected to a stable grounding point, otherwise it cannot play a shielding role. For example, taking a robot as an example, the metal frame of the robot is grounded through a metal conductor. If the shielding layer is connected to the metal frame of the robot, when the robot is traveling on an insulating ground such as a PVC ground, the metal frame cannot be well grounded through the metal conductor. At this time, the electromagnetic waves absorbed by the shielding layer are scattered and reflected inside the metal frame because they cannot be grounded, which increases the electromagnetic interference. At the same time, if the metal frame is not well grounded, if the metal frame is connected to the shielding layer, and the shielding layer is connected to other devices or circuits, then the electromagnetic interference on the metal frame will be transmitted to other devices, thereby amplifying the electromagnetic interference.

[0062] Therefore, in the embodiment of the present application, considering that the grounding of the printed circuit board is relatively stable, in order to achieve good grounding of the shielding layer, the shielding layer of the signal line is connected to the grounding end of the printed circuit board, thereby ensuring that the shielding layer is well grounded; of course, in other embodiments, the shielding layer can also be connected to other stable grounding points to achieve grounding of the shielding layer.

[0063] Through the electromagnetic compatibility system provided in the embodiment of the present application, the first shielding unit 30 is used to shield the high-frequency interference generated when the energy storage unit 10 outputs the working current, so that the current output to the drive control component 20 is purer, thereby ensuring the working stability of the drive control component 20; the second shielding unit 40 is used to shield the high-frequency interference generated when the drive control component 20 drives the load device to run, so that the electromagnetic interference generated when the load device is running is absorbed, further ensuring the working stability of the drive control component 20, and thus allowing the electromagnetic compatibility system to work normally in a complex electromagnetic environment.

[0064] Based on the electromagnetic compatibility system provided by the aforementioned embodiments, the present application also provides a cleaning robot, comprising: a fuselage, walking wheels, a load device and the electromagnetic compatibility system provided by the aforementioned embodiments, the electromagnetic compatibility system comprising an energy storage unit, a drive control component, a first shielding unit and a second shielding unit, the energy storage unit is connected to the drive control component via a first connecting line, the drive control component is connected to the load device via a second connecting line, the first shielding unit is arranged on the first connecting line, and the second shielding unit is arranged on the drive control component; the walking wheels are arranged at the bottom of the fuselage; the load device, the energy storage unit and the drive control component are all arranged in the fuselage.

[0065] The load devices may include various types, such as pumps, valves, brushed motors, push rods, etc., and may also include auxiliary devices such as display screens and speakers.

[0066] It can be understood that the drive control component realizes various functions of the cleaning robot by controlling the operation of the load device; due to the existence of the electromagnetic compatibility system, the operation of the cleaning robot is more stable.

[0067] It is worth mentioning that during the operation of the cleaning robot, power frequency interference will inevitably occur; among them, power frequency (mains frequency) is the abbreviation of "grid operating frequency", also known as power supply frequency, which refers to the frequency of alternating current in the power grid. All generators, power transmission and distribution equipment and users in the same power grid use alternating current of this frequency. Power frequency interference refers to the interference caused by the power system, which may interfere with the working signal of the cleaning robot.

[0068] In the related art, good grounding is often used to suppress the impact of power frequency interference on equipment. However, for a cleaning robot, when the body is a metal body, since the cleaning robot may move on an insulating ground, the metal body of the cleaning robot cannot be well grounded, and the metal body may generate interference current due to power frequency interference. In order to reduce the impact of the interference current of the metal body on the drive control component, especially to reduce the impact on the printed circuit board in the drive control component, in some embodiments, the cleaning robot also includes a connector, and the printed circuit board in the drive control component is fixed to the metal body through the connector so that the printed circuit board is suspended in the air, and the connector is an insulating material.

[0069] The connecting piece may be an insulating bracket, an insulating screw or other component capable of fixing the printed circuit board.

[0070] It should be noted that the suspended printed circuit board means that the printed circuit board is only fixed to the metal body through connecting parts, and is not in direct contact with the metal body or other components.

[0071] It is understandable that when the metal body generates interference current due to power frequency interference, since the printed circuit board is suspended, the interference current can only be transmitted to the printed circuit board through the connector, thus forming a power frequency interference loop; and since the connector is an insulating material, the impedance of the power frequency interference loop is increased, thereby reducing the impact of the power frequency interference on the printed circuit board, and avoiding the interference signal in the printed circuit board that causes malfunction of the robot.

[0072] In other embodiments, considering that the connecting lines are usually power lines or power lines, which transmit large currents, i.e., "strong electricity", while the signal lines transmit low-power signals that are not large currents, i.e., "weak electricity", in order to reduce the interference of "strong electricity" to "weak electricity" caused by electromagnetic coupling between lines, the cleaning robot also includes a first wiring groove and a second wiring groove, the first wiring groove and the second wiring groove are separated from each other, the first wiring groove is used to accommodate the first connecting line and the second connecting line, and the second wiring groove is used to accommodate the signal line.

[0073] Among them, multiple first wiring grooves and second wiring grooves can be set according to actual needs; further, the distance between the first wiring groove and the second wiring groove is as far as possible. For example, the first wiring groove is set on the left side of the cleaning robot, and the second wiring groove is set on the opposite right side.

[0074] It can be understood that by providing separate first wiring grooves and second wiring grooves, the connection lines and signal lines are laid out separately, thereby minimizing interference between lines and further improving the stability of the operation of the cleaning robot.

[0075] Of course, if some connection lines and signal lines must be cross-routed due to structural limitations of the cleaning robot, a cross-route method can be used to minimize electromagnetic coupling between lines.

[0076] It is worth mentioning that when setting the first wiring trough and the second wiring trough, not only the distance between the first wiring trough and the second wiring trough needs to be considered, but also the length of the wiring harness needs to be considered to make the overall wiring harness as short as possible, thereby reducing the possibility of electromagnetic coupling between lines.

[0077] In some embodiments, when the body is a metal body, the cleaning robot is also provided with a metal guide chain, one end of the metal guide chain is connected to the metal body, and the other end is in contact with the ground; through the metal conductor, the static electricity on the metal body can be quickly introduced into the ground; of course, when the cleaning robot moves on the insulating ground, the metal body cannot be well grounded through the metal guide chain, which will cause the accumulation of static electricity.

[0078] For easier understanding, see Figure 2 , Figure 2 A schematic structural diagram of a cleaning robot provided in an embodiment of the present application is given, comprising: a metal body 100, walking wheels 200, a load device 300, a metal guide chain 400, and an electromagnetic compatibility system 500 provided in the present application.

[0079] The running wheels 200 and the metal guide chain 400 are both arranged at the bottom of the metal body 100 . The running wheels 200 are used for the movement of the cleaning robot, and the metal guide chain 400 is used for grounding the metal body 100 .

[0080] The load device 300 and the electromagnetic compatibility system 500 are both arranged inside the metal body 100, wherein the electromagnetic compatibility system 500 includes a battery 501 (i.e., the energy storage unit of the present application), the battery 501 is arranged on the top of the metal body 100, the outlet side of the battery 501 is connected to the power board 502 through a first connecting line, a magnetic ring 503 (i.e., the first shielding unit of the present application) is arranged on the first connecting line, the power board 502 supplies power to the driving board 504, the signal acquisition board 505 and the controller 506 respectively, the driving end of the driving board 504 is provided with a magnetic bead 507 (i.e., the second shielding unit of the present application), and the driving board 504 is connected to various load devices 300 (i.e., the second connecting line of the basic application) through a twisted pair (the second connecting line of the basic application). Figure 2 Pumps, valves, motors, push rods) are connected.

[0081] At the same time, the cleaning robot also includes various sensors, and the sensor data collected by the sensors are transmitted through various signal lines (i.e. Figure 2485, 232, CAN, TTL, USB and network cable) are respectively transmitted to the sensor data adapter board 508, the signal acquisition board 505 and the controller 506, the sensor data adapter board 508 further transmits it to the signal acquisition board 505, and the signal acquisition board 505 further transmits it to the controller 506; all kinds of signal lines use shielded twisted pair cables, and the controller 506 controls the driver board 504 to drive the load device 300 to operate according to the received data.

[0082] The power board 502, the driving board 504 and the signal acquisition board 505 are all PCB boards (i.e., the printed circuit board of the present application). The PCB board is fixed to the metal body 100 through a connector (not shown in the figure) so that the PCB board is suspended in the air. The PCB board, the sensor data adapter board 508 and the controller 506 together constitute the driving control component of the present application (not shown in the figure).

[0083] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. An electromagnetic compatibility system, characterized in that: include: An energy storage unit, wherein the energy storage unit is used to provide a working current; A drive control component, wherein the input end of the drive control component is connected to the energy storage unit through a first connection line, and the output end of the drive control component is connected to the load device through a second connection line, and is used to receive the working current provided by the energy storage unit and drive the load device connected to the drive control component to operate; A first shielding unit, the first shielding unit is arranged on the first connecting line, and is used to shield high-frequency interference generated when the energy storage unit outputs the working current; The second shielding unit is arranged at a position of the drive control component close to the second connecting line, and is used to shield high-frequency interference generated when the drive control component drives the load device to operate.

2. The system according to claim 1, characterized in that The first shielding unit includes a magnetic ring, which is sleeved on the first connecting line and close to the connection between the first connecting line and the energy storage unit.

3. The system according to claim 1, characterized in that The driving control component includes a printed circuit board, and the second shielding unit includes a magnetic bead, which is arranged on the printed circuit board near a connection position between the printed circuit board and the second connecting line.

4. The system according to claim 3, characterized in that The printed circuit board includes a power board and a driving board, wherein the input end of the power board is connected to the energy storage unit through the first connecting line, and the output end is connected to the input end of the driving board, and is used to convert the working current provided by the energy storage unit and supply it to the driving board; The output end of the driving board is connected to the load device through the second connecting line, and the magnetic bead is arranged on the driving board near the connecting position between the driving board and the second connecting line.

5. The system according to claim 4, characterized in that The drive control component further includes a controller, and the printed circuit board further includes a signal acquisition board, the power supply end of the signal acquisition board is connected to the output end of the power supply board, the input end is connected to the sensor through a signal line, and the output end is connected to the input end of the controller, and is used to receive sensor data collected by the sensor and send the converted sensor data to the controller; The input end of the controller is also connected to the sensor through a signal line, and the output end is connected to the input end of the driver board, for receiving data sent by the sensor and the signal acquisition board and controlling the driver board to drive the load device according to the data.

6. The system according to claim 5, characterized in that The signal line is a shielded twisted pair line, and the shielding layer of the signal line is connected to the grounding terminal of the printed circuit board.

7. The system according to any one of claims 1 to 6, characterized in that: The second connecting line is a twisted pair line.

8. A cleaning robot, characterized in that: include: A fuselage, a walking wheel, a load device, and an electromagnetic compatibility system as described in any one of claims 1 to 7, wherein the electromagnetic compatibility system comprises an energy storage unit, a drive control component, a first shielding unit, and a second shielding unit, wherein the energy storage unit is connected to the drive control component via a first connecting line, the drive control component is connected to the load device via a second connecting line, the first shielding unit is arranged on the first connecting line, and the second shielding unit is arranged on the drive control component; The running wheels are arranged at the bottom of the fuselage; The load device, the energy storage unit and the drive control component are all arranged in the fuselage.

9. The cleaning robot according to claim 8, characterized in that: The body is a metal body, and the cleaning robot further comprises a connecting piece, through which the printed circuit board in the drive control assembly is fixed to the metal body so that the printed circuit board is suspended in the air, and the connecting piece is made of insulating material.

10. The cleaning robot according to claim 8, characterized in that: The cleaning robot further includes a first wiring groove and a second wiring groove, wherein the first wiring groove and the second wiring groove are separated from each other, the first wiring groove is used to receive the first connecting wire and the second connecting wire, and the second wiring groove is used to receive the signal wire.

11. The cleaning robot according to claim 8, characterized in that: The body is a metal body, and the cleaning robot is further provided with a metal guide chain, one end of the metal guide chain is connected to the metal body, and the other end is in contact with the ground.

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