Underwater cleaning system

Abstract

The utility model belongs to the technical field of cleaning robots, and particularly relates to an underwater cleaning system which comprises a cleaning robot, a control terminal and a remote control device. A main control module, a power supply module, a driving module, a detection module and a camera module are arranged on the cleaning robot; the power supply module is connected with the master control module, the driving module is connected with the master control module and the power supply module, the detection module is connected with the master control module and the power supply module, and the camera module is connected with the control terminal. The control terminal is connected with the master control module. The remote control device is connected with the control terminal and is connected with the main control module through the control terminal. The cleaning robot, the control terminal and the remote control device are arranged, and the main control module, the power supply module, the driving module, the detection module and the camera module are arranged on the cleaning robot, so that the cleaning robot is remotely controlled to carry out cleaning operation underwater, compared with manual cleaning, the cleaning robot is not influenced by weather, the cleaning efficiency is high, and the cleaning effect is good. The cleaning quality is stable.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning robots, and particularly relates to an underwater cleaning system. Background Art

[0002] During the use of ships, marine organisms such as barnacles, shellfish, and algae will inevitably adhere to the hull surface. These attachments will not only increase the weight of the hull but also increase the resistance during ship navigation, resulting in increased fuel consumption and affecting navigation efficiency. Therefore, regularly cleaning the attachments on the ship surface is an important measure to maintain the ship's performance.

[0003] In the prior art, the cleaning of the ship surface mainly relies on manual labor. Manual cleaning requires a lot of time and labor, and is limited by factors such as weather and sea conditions, resulting in low cleaning efficiency. Moreover, the cleaning effect is unstable, and the cleaning quality is affected by the skills and experience of the operators, making it difficult to guarantee the cleaning effect. Therefore, it is necessary to design a new solution to solve the above problems. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an underwater cleaning system, aiming to solve the technical problems of low efficiency and difficult guarantee of cleaning effect in manual underwater cleaning in the prior art.

[0005] To achieve the above purpose, an embodiment of the utility model provides an underwater cleaning system, including: a cleaning robot, a control terminal, and a remote control device; a main control module, a power supply module, a driving module, a detection module, and a camera module are arranged on the cleaning robot; the power supply module is connected to the main control module, the driving module is connected to the main control module and the power supply module, the detection module is connected to the main control module and the power supply module, the camera module is connected to the control terminal; the control terminal is connected to the main control module; the remote control device is connected to the control terminal and is connected to the main control module through the control terminal.

[0006] As a preferred solution, the driving module includes a plurality of motor driving circuits, a motor control chip, and a voltage regulating circuit; the motor driving circuit is used to adjust the direction and speed of the motor; the motor control chip is connected to the main control module and is connected to each of the motor driving circuits, and the motor control chip is used to adjust each of the motor driving circuits according to the instructions of the main control module; the voltage regulating circuit is connected to the motor control chip and is connected to an external motor.

[0007] As a preferred solution, the motor drive circuit includes a power supply voltage stabilization circuit, a motor adjustment chip, and a motor control chip; the power supply voltage stabilization circuit is connected to an external power supply and is used for power supply voltage stabilization; the motor adjustment chip is connected to the power supply voltage stabilization circuit and is used for adjusting the output conditions of the three-phase lines of the motor; the motor control chip is connected to the motor adjustment chip and is used for controlling the motor adjustment chip according to the instructions of the main control module.

[0008] As a preferred solution, the main control module includes a main control chip and a main control storage chip. The main control chip is connected to the control terminal, and the main control chip is connected to the power supply module, the drive module, the detection module, and the camera module; the main control storage chip is connected to the main control chip.

[0009] As a preferred solution, the power supply module includes a power management chip, a first step-down chip, a second step-down chip, and a third step-down chip; the power management chip is connected to the main control module; the input of the first step-down chip is connected to the output of the power management chip, and the output of the first step-down chip is connected to the detection module; the third step-down chip is connected to the second step-down chip, and the inputs of the second step-down chip and the third step-down chip are both connected to the output of the power management chip, and the outputs of the second step-down chip and the third step-down chip are both connected to the main control module and the first step-down chip.

[0010] As a preferred solution, the power supply module further includes a restart chip, and the restart chip is connected to the first step-down chip.

[0011] As a preferred solution, the camera module includes a power supply interface, a camera chip, a camera storage chip, a voltage adjustment circuit, and a photosensitive chip; the power supply interface is connected to an external power supply, the camera chip is connected to the power supply interface and the control terminal, the camera storage chip is connected to the camera chip, the voltage adjustment circuit is connected to the power supply interface and the camera chip, and the photosensitive chip is connected to the voltage adjustment circuit and the camera chip.

[0012] As a preferred solution, the remote control device includes an input terminal block, a voltage stabilization chip, a switch circuit, a remote control chip, a key circuit, and a rocker circuit; the input terminal block is connected to the control terminal for obtaining power supply and data communication; the voltage stabilization chip is connected to the input terminal block for adjusting the output voltage; the switch circuit is connected to the voltage stabilization chip for controlling the on / off of the voltage stabilization chip; the remote control chip is connected to the voltage stabilization chip; the key circuit and the rocker circuit are both connected to the remote control chip for sending instructions to the main control module according to user operations.

[0013] As a preferred solution, the detection module includes an attitude sensor chip, a compass acceleration sensor chip, a digital gyroscope chip, a gyroscope chip, and a barometric pressure sensor chip; the attitude sensor chip, the compass acceleration sensor chip, the digital gyroscope chip, the gyroscope chip, and the barometric pressure sensor chip are all connected to the power supply module, and the attitude sensor chip, the compass acceleration sensor chip, the digital gyroscope chip, the gyroscope chip, and the barometric pressure sensor chip are all connected to the main control module.

[0014] One or more of the above technical solutions in the underwater cleaning system provided by the embodiments of the present invention at least have one of the following technical effects:

[0015] The present invention realizes remote control of the cleaning robot to perform cleaning operations underwater by setting a cleaning robot, a control terminal, and a remote control device, and arranging a main control module, a power supply module, a driving module, a detection module, and a camera module on the cleaning robot. Compared with manual cleaning, it is not affected by the weather, has a higher cleaning efficiency, and a stable cleaning quality. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a structural block diagram of the underwater cleaning system provided by the embodiments of the present invention;

[0018] Figure 2 It is a circuit schematic diagram of the main control module provided by the embodiments of the present invention;

[0019] Figure 3 It is a circuit schematic diagram of the power management chip provided by the embodiments of the present invention;

[0020] Figure 4 It is a circuit schematic diagram of the first step-down chip and the second step-down chip provided by the embodiments of the present invention;

[0021] Figure 5 It is a circuit schematic diagram of the restart circuit provided by the embodiments of the present invention;

[0022] Figure 6 It is a circuit schematic diagram of the motor drive circuit provided by the embodiments of the present invention;

[0023] Figure 7The circuit schematic diagram of the motor control chip provided by the embodiment of the present utility model;

[0024] Figure 8 The circuit schematic diagram of the voltage regulation circuit provided by the embodiment of the present utility model;

[0025] Figure 9 The circuit schematic diagram of the detection module provided by the embodiment of the present utility model;

[0026] Figure 10 The circuit schematic diagram of the camera module provided by the embodiment of the present utility model;

[0027] Figure 11 The circuit schematic diagram of the remote control device provided by the embodiment of the present utility model;

[0028] Among them, the reference numerals in the figure:

[0029] 100 - cleaning robot; 110 - main control module; 120 - power supply module; 130 - driving module; 131 - motor driving circuit; 1311 - power supply voltage stabilizing circuit; 1312 - motor regulating chip; 1313 - motor control chip; 140 - detection module; 150 - camera module; 200 - control terminal; 300 - remote control device; 310 - switch circuit; 320 - key circuit; 330 - rocker circuit. Specific embodiments

[0030] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the embodiments of the present utility model and should not be construed as limiting the present utility model.

[0031] In the description of the embodiments of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present utility model, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0033] In the embodiments of the present utility model, unless otherwise clearly specified and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0034] In one embodiment of the present utility model, as Figure 1 shown, there is provided an underwater cleaning system, including: a cleaning robot 100, a control terminal 200, and a remote control device 300.

[0035] A main control module 110, a power supply module 120, a driving module 130, a detection module 140, and a camera module 150 are provided on the cleaning robot 100.

[0036] The main control module 110 includes a main control chip U101 and a main control storage chip U102, as Figure 2 shown. The main control chip U101 is connected to the control terminal 200, and the main control chip U101 is connected to the power supply module 120, the driving module 130, the detection module 140, and the camera module 150. In this embodiment, the main control chip U101 is composed of a plurality of wiring units, including U101.3, U101.4, U101.5, U101.7, U101.8, U101.9, U101.10, U101.11, U101.12, and U101.13. In this embodiment, the model of the main control chip U101 is preferably STM32F407, or other chips of the same type. The main control storage chip U102 is connected to the main control chip U101. In this embodiment, the model of the main control storage chip U102 is preferably FM25V01, or other chips of the same type.

[0037] The power supply module 120 is connected to the main control module 110. The power supply module 120 includes a power management chip U110, a first step-down chip U603, a second step-down chip U601, and a third step-down chip U602, as Figure 3and Figure 4 as shown. The power management chip U110 is connected to the corresponding pins on the main control module 110, so that the main control module 110 monitors the usage status of the power supply module 120. The input of the first buck chip U603 is connected to the output of the power management chip U110, and the output of the first buck chip U603 is connected to the detection module 140, reducing the 5V voltage input by the power management chip U110 to 3.3V to supply power to the detection module 140. The third buck chip U602 is connected to the corresponding pins of the second buck chip U601. The inputs of the second buck chip U601 and the third buck chip U602 are connected to the output of the power management chip U110, and the outputs of the second buck chip U601 and the third buck chip U602 are both connected to the main control module 110 and the first buck chip U603. In this embodiment, the models of the second buck chip U601 and the third buck chip U602 are preferably BQ24315, or other chips of the same type.

[0038] In another embodiment of the present invention, as Figure 5 shown, the power supply module 120 further includes a restart chip U101, and the restart chip U101 is connected to the corresponding pins of the first buck chip U603. In this embodiment, the restart chip U101 is composed of multiple wiring units, specifically including U101.1, U101.2, and U101.14. In this embodiment, the model of the restart chip U101 is preferably STM32F4X7VX, or other chips of the same type.

[0039] The drive module 130 is connected to the main control module 110 and the power supply module 120. The drive module includes multiple motor drive circuits 131, a motor control chip U801, and a voltage regulation chip U902, as Figures 6 - 8 shown. The motor drive circuit 131 is used to adjust the direction and speed of the motor. In this embodiment, there are 8 motor drive circuits 131, which respectively control 8 motors, among which four are used for floating up and down, two are used for propulsion, and two are used for walking. The motor control chip U801 is connected to the corresponding pins on the main control module 110 and is connected to each of the motor drive circuits 131. The motor control chip U801 is used to adjust each of the motor drive circuits 131 according to the instructions of the main control module 110, so that the cleaning robot 100 makes various actions such as floating up, floating down, rolling, propulsion, and walking in various directions. The voltage regulation chip U902 is connected to the motor control chip U801 and is connected to an external motor.

[0040] In this embodiment, the motor control chip U801 includes multiple wiring units, specifically including U801.1, U801.2, U801.3, U801.4, U801.5, U801.6, U801.7, U801.8, and U801.9. The model of the motor control chip U801 is preferably STM32F10XCXT6, or other chips of the same type. The model of the voltage regulation chip U902 is preferably TXS0108QFN20, or other chips of the same type.

[0041] The motor drive circuit 131 includes a power supply voltage stabilization circuit 1311, a motor regulation circuit 1312, and a motor control circuit 1313. The power supply voltage stabilization circuit 1311 is connected to an external power supply and is used for power supply voltage stabilization. The motor regulation circuit 1312 is connected to the corresponding pins on the power supply voltage stabilization circuit 1311 and is used to adjust the output status of the three-phase lines of the motor. The motor control circuit 1313 includes a motor control chip U63. The motor control chip U63 is connected to the corresponding pins on the motor regulation circuit 1312 and is used to control the motor regulation circuit 1312 according to the instructions of the main control module 110. In this embodiment, the model of the motor control chip U63 is preferably ATmega8L-8MT, or other chips of the same type.

[0042] The detection module 140 is connected to the main control module 110 and the power supply module 120. The detection module 140 includes an attitude sensor chip U501, a compass acceleration sensor chip U504, a digital gyroscope chip U502, a gyroscope chip U505, and a barometric pressure sensor chip U506, as Figure 9 shown. The attitude sensor chip U501, the compass acceleration sensor chip U504, the digital gyroscope chip U502, the gyroscope chip U505, and the barometric pressure sensor chip U506 are all connected to the power supply module 120. The attitude sensor chip U501, the compass acceleration sensor chip U504, the digital gyroscope chip U502, the gyroscope chip U505, and the barometric pressure sensor chip U506 are all connected to the corresponding pins on the main control chip U101.

[0043] In another embodiment of the present utility model, there is also a depth detection connection circuit 141. The depth detection connection circuit 141 is connected to the power supply module 120 and the main control module 110. The depth detection connection circuit 141 is used to connect an external depth detection sensor.

[0044] The camera module 150 is connected to the control terminal 200. The camera module 150 includes a power supply interface JP1, a camera chip U2, a camera storage chip U3, a voltage adjustment circuit 151, and a photosensitive chip U1, as Figure 10As shown in the figure. The power supply interface JP1 is connected to an external power supply. The camera chip U2 is connected to the power supply interface JP1 and the control terminal 200. In this embodiment, the model of the camera chip U2 is preferably HY7131R, or other chips of the same type. The camera storage chip U3 is connected to the corresponding pins on the camera chip U2. In this embodiment, the model of the camera storage chip U3 is preferably AT24C02, or other chips of the same type.

[0045] The voltage adjustment circuit 151 is connected to the power supply interface JP1 and the corresponding pins on the camera chip U2. The photosensitive chip U1 is connected to the voltage adjustment circuit 151 and the corresponding pins on the camera chip U3. In this embodiment, the model of the photosensitive chip U1 is preferably ZC0301+, or other chips of the same type.

[0046] The control terminal 200 is connected to the main control module 110. In this embodiment, the control terminal 200 is a computer and the upper computer software on the computer.

[0047] The remote control device 300 is connected to the control terminal 200 and is connected to the main control module 110 through the control terminal 200. The remote control device 300 includes an input terminal block U72, a voltage regulator chip U75, a switch circuit 310, a remote control chip U71, a key circuit 320, and a rocker circuit 330, as Figure 11 shown. The input terminal block U72 is connected to the control terminal 200 for obtaining power supply and data communication. The voltage regulator chip U75 is connected to the input terminal block U72 for adjusting the output voltage. The switch circuit 310 is connected to the voltage regulator chip U75 for controlling the on / off of the voltage regulator chip U75. The remote control chip U71 is connected to the voltage regulator chip U75. The key circuit 320 and the rocker circuit 330 are both connected to the remote control chip U71 for sending instructions to the main control module 110 according to user operations. In this embodiment, the model of the voltage regulator chip U75 is preferably HT7833, or other chips of the same type; the model of the remote control chip U71 is preferably STM32F103C8T6, or other chips of the same type.

[0048] It should be noted that this application aims to protect the circuit structure. For the program control part, those skilled in the art should reasonably select appropriate circuits and chips according to the chip models in this application or as needed and perform appropriate programming to realize the corresponding program control functions in the present invention. Therefore, this part is a mature and established technology in the prior art and is not the focus of protection of this application. Therefore, this application does not specifically elaborate on this control part.

[0049] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An underwater cleaning system, characterized in that: include: A cleaning robot, a control terminal and a remote control device; the cleaning robot is provided with a main control module, a power supply module, a drive module, a detection module and a camera module; The power supply module is connected to the main control module, the driving module is connected to the main control module and the power supply module, the detection module is connected to the main control module and the power supply module, the camera module is connected to the control terminal; the control terminal is connected to the main control module; the remote control device is connected to the control terminal and is connected to the main control module through the control terminal.

2. The underwater cleaning system according to claim 1, characterized in that: The driving module includes multiple motor driving circuits, a motor control chip and a voltage regulation circuit; the motor driving circuit is used to adjust the direction and speed of the motor; the motor control chip is connected to the main control module and is connected to each of the motor driving circuits, and the motor control chip is used to adjust each of the motor driving circuits according to the instructions of the main control module; the voltage regulation circuit is connected to the motor control chip and is connected to an external motor.

3. The underwater cleaning system according to claim 2, characterized in that: The motor drive circuit includes a power supply stabilization circuit, a motor regulation chip and a motor control chip; the power supply stabilization circuit is connected to an external power supply and is used for power supply stabilization; the motor regulation chip is connected to the power supply stabilization circuit and is used to adjust the output conditions of the three circuits of the motor; the motor control chip is connected to the motor regulation chip and is used to control the motor regulation chip according to the instructions of the main control module.

4. The underwater cleaning system according to any one of claims 1 to 3, characterized in that: The main control module includes a main control chip and a main control storage chip. The main control chip is connected to the control terminal, and the main control chip is connected to the power supply module, the drive module, the detection module and the camera module; the main control storage chip is connected to the main control chip.

5. The underwater cleaning system according to any one of claims 1 to 3, characterized in that: The power supply module includes a power management chip, a first step-down chip, a second step-down chip and a third step-down chip; the power management chip is connected to the main control module; the input of the first step-down chip is connected to the output of the power management chip, and the output of the first step-down chip is connected to the detection module; the third step-down chip is connected to the second step-down chip, the inputs of the second step-down chip and the third step-down chip are both connected to the output of the power management chip, and the outputs of the second step-down chip and the third step-down chip are both connected to the main control module and the first step-down chip.

6. The underwater cleaning system according to claim 5, characterized in that: The power supply module also includes a restart chip, and the restart chip is connected to the first step-down chip.

7. The underwater cleaning system according to any one of claims 1 to 3, characterized in that: The camera module includes a power supply interface, a camera chip, a camera storage chip, a voltage adjustment circuit and a photosensitive chip; the power supply interface is connected to an external power supply, the camera chip is connected to the power supply interface and the control terminal, the camera storage chip is connected to the camera chip, the voltage adjustment circuit is connected to the power supply interface and the camera chip, and the photosensitive chip is connected to the voltage adjustment circuit and the camera chip.

8. The underwater cleaning system according to any one of claims 1 to 3, characterized in that: The remote control device includes an input terminal seat, a voltage stabilizing chip, a switching circuit, a remote control chip, a button circuit and a joystick circuit; the input terminal seat is connected to the control terminal for obtaining power supply and data communication; the voltage stabilizing chip is connected to the input terminal seat for adjusting the output voltage; the switching circuit is connected to the voltage stabilizing chip for controlling the on and off of the voltage stabilizing chip; the remote control chip is connected to the voltage stabilizing chip; the button circuit and the joystick circuit are both connected to the remote control chip for issuing instructions to the main control module according to user operations.

9. The underwater cleaning system according to any one of claims 1 to 3, characterized in that: The detection module includes a posture sensor chip, a compass acceleration sensor chip, a digital gyroscope chip, a gyroscope chip and an air pressure sensor chip; the posture sensor chip, the compass acceleration sensor chip, the digital gyroscope chip, the gyroscope chip and the air pressure sensor chip are all connected to the power supply module, and the posture sensor chip, the compass acceleration sensor chip, the digital gyroscope chip, the gyroscope chip and the air pressure sensor chip are all connected to the main control module.

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