In-place detection device of water taking robot

Abstract

The utility model discloses an in-place detection device of a water taking robot, which comprises a bottom plate, a pick-and-place mechanism and an in-place detection mechanism, the bottom plate is used for supporting the robot, the pick-and-place mechanism is used for transferring the robot to the bottom plate or transferring the robot from the bottom plate to the ground, and the in-place detection mechanism is used for detecting the in-place of the robot. The in-place detection mechanism comprises a sensor arranged on the bottom plate, and the sensor is used for detecting whether the robot is parked on the bottom plate or not. The water taking robot is transferred to the bottom plate through the taking and placing mechanism, it is guaranteed that the robot can be accurately parked on the bottom plate every time through accurate sensor detection, the falling risk caused by improper parking is reduced, and the safety and integrity of equipment are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of emergency rescue equipment, and in particular to a positioning detection device for a water-collecting robot. Background Technology

[0002] With the continuous advancement of disaster relief equipment, water-collecting robots, as efficient and flexible tools for flood drainage and firefighting, are playing an increasingly important role in emergency response. Traditional water collection operations typically require manual operation, which is inefficient and poses safety hazards. In recent years, more automated water-collecting robots have been gradually applied to actual disaster relief missions. These robots can automatically complete a series of actions from water source collection to remote water delivery, greatly improving work efficiency and reducing personnel risks.

[0003] Existing water-collecting robots still face several challenges in use. For example, the accuracy of the robot's placement on the base plate directly affects the safety and effectiveness of subsequent operations. If the robot is not parked correctly, there is a risk of displacement, which could lead to collisions with rescue vehicles or other surrounding facilities, causing mechanical damage to the equipment itself, such as cracking of the casing. Once it is discovered that the water-collecting robot is not parked correctly, additional time is required to readjust and correct its position, which undoubtedly prolongs preparation time and response speed. Utility Model Content

[0004] Therefore, it is necessary to provide a positioning detection device for water-collecting robots to solve the problem of potential displacement risk if the robot fails to be positioned correctly.

[0005] To achieve the above objectives, this embodiment provides a positioning detection device for a water-collecting robot, including a base plate, a pick-up and place mechanism, and a positioning detection mechanism. The base plate is used to support the robot, the pick-up and place mechanism is used to transfer the robot onto the base plate or transfer the robot from the base plate to the ground, and the positioning detection mechanism includes a sensor disposed on the base plate, the sensor being used to detect whether the robot is parked on the base plate.

[0006] Furthermore, the base plate includes a plate body, a pressure plate, and a support structure. The plate body has a through slot for accommodating the pressure plate. The pressure plate is hinged to the plate body to rotate around the hinged portion. The support structure is located on the bottom of the plate body and supports the sensor, which is located below the pressure plate. The support structure also supports a pressure plate flipping drive, which is connected to the pressure plate and is used to flip the pressure plate upward around the hinged portion and protrude it out of the slot.

[0007] Furthermore, the sensor determines whether the robot is parked on the base plate by the angle of the pressure plate.

[0008] Furthermore, the sensor is a limit switch. When the water-collecting robot is placed on the base plate and comes into contact with the pressure plate, the pressure plate rotates downward around the hinge and contacts the swing arm of the limit switch, causing the angle of the swing arm to change, indicating that the water-collecting robot is parked on the base plate.

[0009] Furthermore, the flipping drive component is a gas spring, the top of which is hinged to the bottom of the pressure plate, and the bottom of which is hinged to the support structure.

[0010] Furthermore, the flipping drive includes a sleeve, a helical spring, and a top block. The sleeve is disposed on the support structure and located below the pressure plate. The bottom of the helical spring is fixed inside the sleeve, and the top of the helical spring is fixed to the top block. The top of the top block is slidably connected to the bottom of the pressure plate, and the top of the top block is arc-shaped.

[0011] Furthermore, the flipping drive also includes a screw, the support structure has a through hole for the screw to pass through, the screw passes through the helical spring through the through hole and is threadedly connected to the top block, and the screw is also abutted against the lower edge of the through hole by a nut.

[0012] Furthermore, the support structure is U-shaped, with the tops of its two side walls welded to the lower surface of the main plate body, and the bottom support of the support structure located between the two side walls supports the flipping drive component, and the sensor is fastened to the bottom support or side wall by bolts.

[0013] Furthermore, the water-collecting robot has two symmetrically arranged walking tracks, and a positioning detection mechanism is provided on the base plate at the position corresponding to each of the two walking tracks.

[0014] Furthermore, the positioning detection mechanism also includes a PLC controller and a receiving terminal. The PLC controller is electrically connected to the sensor and communicatively connected to the receiving terminal. The receiving terminal is used to display alarm information sent by the PLC controller indicating that the water-collecting robot is not parked correctly.

[0015] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0016] The water-collecting robot is transferred to the base plate via a pick-and-place mechanism. Precise sensor detection ensures that the robot can accurately stop on the base plate every time, reducing the risk of falling off due to improper parking, ensuring the safety and integrity of the equipment, and improving the operator's response speed.

[0017] The above description of the utility model is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0018] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of the specific embodiments described herein and other related content, and should not be considered as limitations on this application.

[0019] Figure 1 This is a schematic diagram of the positioning detection device used in this implementation.

[0020] Figure 2 This is a schematic diagram of the rocker-type limit switch used in this embodiment;

[0021] Figure 3 This is a schematic diagram of the gas spring and rocker arm limit switch used in this embodiment;

[0022] Figure 4 This is a schematic diagram of the sleeve, top block, and pressure plate in another implementation;

[0023] Figure 5 This is a cross-sectional view of the sleeve, top block, and helical spring in another embodiment;

[0024] Figure 6 This is a connection diagram of the arrival detection mechanism in this embodiment.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Base plate; 11. Main body of the plate; 12. Pressure plate; 13. Supporting structure; 131. Base support; 132. Side wall;

[0027] 2. Picking and placing mechanism;

[0028] 3. Position detection mechanism; 31. Sensor; 311. Swing arm; 32. PLC controller; 33. Receiving terminal;

[0029] 4. Tilting drive component; 41. Gas spring; 42. Sleeve; 43. Helical spring; 44. Top block; 45. Screw; 46. Nut. Detailed Implementation

[0030] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0031] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0032] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0033] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0034] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0035] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0036] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0037] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0038] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0039] Please see Figures 1 to 6 This embodiment provides a positioning detection device for a water-collecting robot, including a base plate 1, a pick-up and place mechanism 2, and a positioning detection mechanism 3. The base plate 1 is used to support the robot, the pick-up and place mechanism 2 is used to transfer the robot onto the base plate 1, or to transfer the robot from the base plate 1 to the ground, and the positioning detection mechanism 3 includes a sensor 31 installed on the base plate 1. The sensor 31 is used to detect whether the robot is parked on the base plate 1.

[0040] The pick-and-place mechanism 2 is responsible for transferring the water-collecting robot from the ground to the base plate 1 or vice versa. The base plate 1 serves as a support platform, and its dimensions can actually be larger than the dimensions of the water-collecting robot, allowing the water-collecting robot to be parked stably and safely. Optionally, after the water-collecting robot is parked on the base plate 1, the base plate 1 can also be equipped with a limit block to limit the movement of the water-collecting robot.

[0041] The above technical solution has the following beneficial effects: the water-collecting robot is transferred to the base plate 1 through the pick-and-place mechanism 2, and the precise sensor 31 ensures that the robot can accurately stop on the base plate 1 every time, reducing the risk of falling off due to improper parking and ensuring the safety and integrity of the equipment.

[0042] Please see Figure 1 and Figure 3 In this embodiment, the base plate 1 includes a plate body 11, a pressure plate 12, and a support structure 13. The plate body 11 has a through slot for accommodating the pressure plate 12. The pressure plate 12 is hinged to the plate body 11 to rotate around the hinged part. The support structure 13 is located on the bottom of the plate body 11 and supports a sensor 31 located below the pressure plate 12. The support structure 13 also supports a pressure plate 12 flipping drive 4. The flipping drive 4 is connected to the pressure plate 12 and is used to flip the pressure plate 12 upward around the hinged part and protrude out of the slot.

[0043] When no robot is parked, the pressure plate 12 is in an upward-curved position, protruding beyond the slot, allowing the operator to visually observe the current status. When the water-collecting robot is moved to the vicinity of the base plate 1 via the pick-and-place mechanism 2, it gradually approaches and eventually parks on the base plate 1. As the robot's weight acts on the pressure plate 12, the pressure plate 12 begins to move downward from its upward-curved position, gradually entering the slot and becoming flush with it. The pressure plate 12 serves as a visual cue, enabling the operator to quickly determine whether a robot is currently parked on the base plate 1.

[0044] Please see Figure 2 In this embodiment, sensor 31 determines whether the robot is parked on base plate 1 by observing the posture of pressure plate 12. Once sensor 31 detects a significant change in the angle of pressure plate 12 (e.g., from upward to horizontal), it immediately triggers and sends a signal indicating the presence of an external load to the signal processing unit. This signal is then transmitted to PLC controller 32 as the basis for the next action.

[0045] Please see Figure 2 In this embodiment, sensor 31 is a limit switch, preferably a Chint YBLX-ME / 8108 limit switch. When the water-collecting robot is placed on the base plate 1 and contacts the pressure plate 12, the pressure plate 12 rotates downward around the hinge and contacts the swing arm 311 of the limit switch, causing a change in the angle of the swing arm 311. This change in the angle of the swing arm 311 causes a change in the internal circuit state through mechanical linkage or direct electrical connection, resulting in the limit switch generating a new signal indicating that the robot has been successfully placed in position.

[0046] In some embodiments, sensor 31 can be a proximity sensor 31. In other embodiments, sensor 31 can be a force load sensor 31 integrated within the base plate 1. When no water-collecting robot is parked on the base plate 1, the force load sensor 31 is in standby mode, recording the static load of the base plate 1 itself, without triggering any special actions or signal transmissions. When the water-collecting robot approaches and eventually parks on the base plate 1, its weight is directly applied to the force load sensor 31 integrated within the base plate 1. As the pressure increases, the sensitive element in sensor 31 deforms, which is converted into an electrical signal. After amplification and processing by the signal processing unit, a data stream representing the current magnitude of the applied force is formed. This data can be used to determine whether the robot has been correctly parked.

[0047] Please see Figure 3 In this embodiment, the flipping drive 4 is a gas spring 41. The top of the gas spring 41 is hinged to the bottom of the pressure plate 12, and the bottom of the gas spring 41 is hinged to the support structure 13. When no water-collecting robot is placed on the base plate 1, the gas spring 41 maintains the initial angle of the pressure plate 12 with its internal pressure, at which time the pressure plate 12 is in an upward tilted state. When the water-collecting robot approaches and finally stops on the base plate 1, its weight is applied to the pressure plate 12, causing the pressure plate 12 to overcome the force of the gas spring 41 and begin to rotate downward. As the pressure plate 12 rotates, the piston rod inside the gas spring 41 is pushed into the cylinder, causing the gas spring 41 to gradually shorten. During this process, the limit switch detects whether the water-collecting robot is in place. When the water-collecting robot leaves the base plate 1, the gas spring 41 uses its internal stored energy to automatically push the pressure plate 12 back to its original position. The gas spring 41 not only provides necessary support and cushioning during robot parking, but more importantly, it can automatically restore the pressure plate 12 to its original position after the robot is removed, simplifying the system's control logic and improving work efficiency.

[0048] Please see Figure 4 and Figure 5 In another embodiment, the flipping drive 4 includes a sleeve 42, a helical spring 43 and a top block 44. The sleeve 42 is disposed on the support structure 13 and located below the pressure plate 12. The bottom of the helical spring 43 is fixed inside the sleeve 42, and the top of the helical spring 43 is fixed with the top block 44. The top of the top block 44 is slidably connected to the bottom of the pressure plate 12, and the top of the top block 44 is arc-shaped.

[0049] Since the pressure plate 12 will rotate during operation, the design of the arc-shaped top block 44 allows it to fit tightly against the pressure plate 12, ensuring continuous contact between the two.

[0050] When the water-collecting robot is not positioned on the base plate 1, the helical spring 43 maintains the position of the top block 44 at its natural length, with the top of the top block 44 in slight contact with the bottom of the pressure plate 12, which is in an upward-curved state. When the water-collecting robot approaches and eventually rests on the base plate 1, its weight is applied to the pressure plate 12, causing it to rotate downwards against the force of the helical spring 43. As the pressure plate 12 rotates, the top block 44 slides along the bottom of the pressure plate 12, and the helical spring 43 is gradually compressed, storing potential energy. During this process, a limit switch detects whether the water-collecting robot is in place. When the water-collecting robot leaves the base plate 1, the helical spring 43 uses its internally stored energy to automatically push the top block 44 back to its original position, thereby pushing the pressure plate 12 back to its upward-curved position.

[0051] Please see Figure 4 and Figure 5 Furthermore, the flipping drive component 4 also includes a screw 45. The support structure has a through hole through which the screw 45 passes. The screw 45 passes through the through hole, through the helical spring 43, and is threadedly connected to the top block 44. The screw 45 is abutted against the lower edge of the through hole by a nut 46. The screw 45 not only passes through the through hole in the support structure but also through the helical spring 43, and finally forms a threaded connection with the top block 44, fixing the top block 44. To fix the position of the screw 45, one or more nuts 46 are installed at one end of the screw 45. These nuts 46 abut against the lower edge of the through hole in the support structure, thereby effectively limiting the possibility of the screw 45 moving up and down.

[0052] Please see Figure 2 and Figure 4 In this embodiment, the support structure 13 is U-shaped, with the top ends of its two side walls 132 welded to the lower surface of the main body 11. The base 131 between the two side walls 132 supports the flipping drive component 4, and the sensor 31 is fastened to the base 131 or side wall 132 by bolts. The U-shaped support structure 13 not only provides a stable foundation for the sensor 31 and the flipping drive component 4, but its unique geometry also enhances the overall device's resistance to bending and deformation. This helps prevent component loosening or failure due to long-term use, improving the system's reliability and durability. In some embodiments, the two ends of the helical spring 43 are fixed to the base 131 and the top block 44 respectively, eliminating the need for the screw 45.

[0053] In this embodiment, the water-collecting robot has two symmetrically arranged walking tracks. This design not only improves the robot's walking ability and stability but also ensures that it can successfully reach the water source under complex terrain conditions. A positioning detection mechanism 3 is provided on the base plate 1 at the position corresponding to each of the two walking tracks. The symmetrically arranged positioning detection mechanisms 3 provide additional safety assurance. Even if one sensor 31 fails, the other sensor 31 can still function normally, thus avoiding safety hazards caused by erroneous signals. After setting the two positioning detection mechanisms 3, a pressure plate 12, a tilting drive component 4, etc., can be correspondingly installed.

[0054] Please see Figure 6 In this embodiment, the positioning detection mechanism 3 also includes a PLC controller 32 and a receiving terminal 33. The PLC controller 32 is electrically connected to the sensor 31 and is communicatively connected to the receiving terminal 33. The receiving terminal 33 is used to display alarm information sent by the PLC controller 32 indicating that the water-collecting robot is not parked correctly.

[0055] The PLC controller 32 and sensor 31 interact via an electrical connection, ensuring that the sensor 31 can transmit monitored status changes to the PLC controller 32 for processing in real time. Simultaneously, a communication connection is established between the PLC controller 32 and the receiving terminal 33, allowing processed information to be promptly transmitted to the receiving terminal 33. When the water-collecting robot is parked on the base plate 1, the sensor 31 in the positioning detection mechanism 3 monitors its position for accuracy. If everything is normal, the PLC controller 32 will not trigger any alarm actions. If the water-collecting robot fails to park correctly, for example, due to uneven ground or a problem with the machine itself causing one or both positioning detection mechanisms 3 to be unable to confirm that the robot has completely stopped, the relevant sensor 31 will send an abnormal signal to the PLC controller 32. Upon receiving the abnormal signal, the PLC controller 32 immediately starts a preset program to analyze these signals and determine if there is an incorrect parking situation. Once the problem is confirmed, the PLC controller 32 generates an alarm message containing the specific error type. The PLC controller 32 then sends this alarm message to the receiving terminal 33 via the communication link. The receiving terminal 33 can be a control panel fixedly installed on-site or in the driver's cab, or a portable mobile device such as a smartphone or tablet. Alarm information prompts relevant personnel to take swift action. This instant feedback mechanism helps shorten troubleshooting time and reduces potential risks caused by improper parking.

[0056] Please see Figure 1In this embodiment, the pick-up and place mechanism 2 can lift and lower the water-collecting robot using a lifting component, which can be a winch, to lift the water-collecting robot up and down. It can also move the water-collecting robot horizontally using a translation component, which can be a linear slide rail, to drive the frame containing the winch to translate left and right to the inner and outer sides of the chassis.

[0057] This embodiment also provides a rescue vehicle, which is equipped with a positioning detection device for the water-collecting robot as described in any of the above embodiments.

[0058] The positioning detection device for the water-collecting robot is integrated into the chassis of the emergency response vehicle; specifically, base plate 1 can be mounted on the chassis. Operators can confirm the robot's correct positioning in the shortest possible time, reducing unnecessary waiting time and thus improving the speed and efficiency of the overall emergency response. The positioning detection device provides additional safety. Even in low light or harsh environments, it ensures the robot is accurately parked in the designated location, reducing the risks associated with incorrect parking.

[0059] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A water taking robot in-place detection device, characterized in that, The device comprises a base plate, a taking and placing mechanism and a position detection mechanism, the base plate is used for supporting the robot, the taking and placing mechanism is used for transferring the robot to the base plate or transferring the robot from the base plate to the ground, and the position detection mechanism comprises a sensor arranged on the base plate and used for detecting whether the robot is parked on the base plate.

2. The in-place detection device of claim 1, wherein, The base plate comprises a plate body, a pressing plate and a support structure, the plate body has a through slot for accommodating the pressing plate, the pressing plate is hinged to the plate body to rotate around the hinged part, the support structure is arranged on the bottom of the plate body, the support structure supports the sensor, the sensor is located below the pressing plate, and the support structure further supports a pressing plate overturning driving element connected with the pressing plate and used for overturning the pressing plate upward around the hinged part and protruding out of the slot.

3. The in-place detection apparatus of claim 2, wherein The sensor judges whether the robot is parked on the base plate through the angle of the pressing plate.

4. The in-place detection apparatus of claim 3, wherein The sensor is a travel switch, when the water taking robot is placed on the base plate and contacts the pressing plate, the pressing plate rotates downward around the hinged part and contacts the swing lever of the travel switch, so that the angle of the swing lever changes, indicating that the water taking robot is parked on the base plate.

5. The in-place detection apparatus of claim 2, wherein The overturning driving element is a gas spring, the top of the gas spring is hinged to the bottom of the pressing plate, and the bottom of the gas spring is hinged to the support structure.

6. The in-place detection apparatus of claim 2, wherein The overturning driving element comprises a sleeve, a spiral spring and a top block, the sleeve is arranged on the support structure and located below the pressing plate, the bottom of the spiral spring is fixed in the sleeve, the top of the spiral spring is fixed with the top block, the top of the top block is slidably connected with the bottom of the pressing plate, and the top of the top block is arc-shaped.

7. The in-place detection device of claim 6, wherein, The overturning driving element further comprises a screw rod, the support structure is provided with a through hole through which the screw rod penetrates, the screw rod penetrates through the spiral spring from the through hole and is threadedly connected with the top block, and the screw rod further abuts against the lower edge of the through hole through a nut.

8. The in-place detection device according to any one of claims 2 to 7, characterized in that, The support structure is in the shape of a U, the top ends of the two side walls are respectively welded to the lower surface of the plate body, the bottom support between the two side walls supports the overturning driving element, and the sensor is fastened on the bottom support or the side wall through bolts.

9. The in-place detection device according to any one of claims 1 to 7, characterized in that, The water taking robot has two symmetrical walking tracks, and the base plate is provided with one position detection mechanism corresponding to each walking track.

10. The in-place detection device according to any one of claims 1 to 7, characterized in that, The position detection mechanism further comprises a PLC controller and a receiving terminal, the PLC controller is electrically connected with the sensor, the PLC controller is communicatively connected with the receiving terminal, and the receiving terminal is used for displaying the alarm information about incorrect parking of the water taking robot sent by the PLC controller.

11. The in-place detection apparatus of claim 8, wherein The position detection mechanism further comprises a PLC controller and a receiving terminal, the PLC controller is electrically connected with the sensor, the PLC controller is communicatively connected with the receiving terminal, and the receiving terminal is used for displaying the alarm information about incorrect parking of the water taking robot sent by the PLC controller.

12. The in-place detection apparatus of claim 9, wherein The in-place detection mechanism further comprises a PLC controller and a receiving terminal, the PLC controller is electrically connected with the sensor, the PLC controller is in communication connection with the receiving terminal, and the receiving terminal is used for displaying alarm information sent by the PLC controller that the water taking robot is not parked correctly.

Images