Rain sensor and robot

Abstract

The application relates to the technical field of robots, in particular to a rain sensor and a robot, the rain sensor comprising: a first electrode; a second electrode; a water storage groove, the first electrode and the second electrode being arranged in the water storage groove, the first electrode and the second electrode being conducted when the water storage groove stores water, and being disconnected when the water storage groove does not store water; a rain detection circuit, which is connected to a controller of the robot and one of the first electrode and the second electrode, the electrode not connected to the rain detection circuit being grounded, and the rain detection circuit being used for outputting a rain detection signal to the controller; and a heating circuit, which is connected to the controller and used for heating the water storage groove. The rain sensor in the application can realize the following: when the water storage groove stores water, the heating circuit is controlled to heat the water storage groove, so that the water in the water storage groove is rapidly evaporated, and the accuracy and reliability of the rain sensor in judging rainy days can be improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a rain sensor and a robot. Background Technology

[0002] Many robots used in outdoor operations are equipped with rain sensors to detect rain and prevent them from operating in the rain. Currently, traditional rain sensors detect rain by storing water in tanks. However, because these tanks hold water for extended periods, this can lead to misjudgments by the robot when using the rain sensor to determine if it is raining. Utility Model Content

[0003] This application provides a rain sensor and a robot that can solve the problem of misjudgment when robots use traditional rain sensors to determine whether it is raining in related technologies.

[0004] In a first aspect, this application provides a rain sensor for use in a robot, the rain sensor comprising: First electrode; Second electrode; A water storage tank, wherein the first electrode and the second electrode are disposed in the water storage tank, the first electrode and the second electrode are connected when the water storage tank stores water, and the first electrode and the second electrode are disconnected when the water storage tank does not store water; A rain detection circuit is provided for connection to the controller of the robot, and for connection to one of the first electrode and the second electrode. The electrode not connected to the rain detection circuit is grounded. The rain detection circuit is used to output a rain detection signal to the controller. A heating circuit is provided for connection to the controller and for heating the water tank.

[0005] In one embodiment, a first terminal of the heating circuit is connected to the controller, a second terminal of the heating circuit is grounded, and a third terminal of the heating circuit is connected to a voltage source. The heating circuit is used to heat the water tank using electrical energy output from the voltage source according to the heating signal output by the controller, and to stop heating the water tank using electrical energy output from the voltage source according to the stop heating signal output by the controller.

[0006] In one embodiment, the heating circuit includes a switching unit and a heating unit. A first terminal of the switching unit is connected to the controller, a second terminal of the switching unit is grounded, a third terminal of the switching unit is connected to the first terminal of the heating unit, and a second terminal of the heating unit is connected to the voltage source. The switching unit is configured to connect the heating unit to ground according to the heating signal output by the controller, so that the heating unit heats the water tank according to the electrical energy output by the voltage source, and to disconnect the heating unit from ground according to the stop heating signal output by the controller, so that the heating unit stops heating the water tank.

[0007] In one embodiment, the switching unit includes a switching transistor, a first end of which is connected to the controller, a second end of which is grounded, and a third end of which is connected to the first end of the heating unit. The switching transistor is configured to turn on when it receives the heating signal output by the controller, thereby connecting the heating unit to ground so that the heating unit heats the water tank according to the electrical energy output by the voltage source; and to turn off when it receives the stop heating signal output by the controller, thereby disconnecting the heating unit from ground so that the heating unit stops heating the water tank.

[0008] In one embodiment, the heating unit includes a positive temperature coefficient heater, a heating wire, or a heating resistor.

[0009] In one embodiment, the heating unit is disposed outside the water storage tank and in contact with the water storage tank.

[0010] In one embodiment, the rainwater detection signal includes a first level signal and a second level signal; the rainwater detection circuit includes a rainwater detection unit and a reference voltage input unit, a first terminal of the rainwater detection unit is connected to one of the first electrode and the second electrode, a second terminal of the rainwater detection unit is connected to the reference voltage input unit, and a third terminal of the rainwater detection unit is connected to the controller; The reference voltage input unit is used to input a reference voltage to the second terminal of the rainwater detection unit. The rainwater detection unit is used to output a first-level signal to the controller to indicate that the water storage tank stores water when the first electrode and the second electrode are connected, and to output a second-level signal to the controller to indicate that the water storage tank does not store water when the first electrode and the second electrode are disconnected, using the reference voltage.

[0011] In one embodiment, the rainwater detection unit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The inverting input terminal of the first operational amplifier is connected to one of the first electrode and the second electrode through the first resistor. The non-inverting input terminal of the first operational amplifier is grounded through the second resistor. The output terminal of the first operational amplifier is connected to the controller through the third resistor. The fourth resistor is connected between the inverting input terminal and the output terminal of the first operational amplifier. The first operational amplifier is configured to output a first-level signal to the controller through its output terminal when it receives a low-level signal output from the first electrode and the second electrode when the inverting input terminal is not receiving a low-level signal output from the first electrode and the second electrode, and to output a second-level signal to the controller using the reference voltage received at the non-inverting input terminal when the inverting input terminal is not receiving a low-level signal output from the first electrode and the second electrode.

[0012] In one embodiment, the reference voltage input unit includes a fifth resistor, a second operational amplifier, a sixth resistor, and a seventh resistor. The first terminal of the fifth resistor is connected to a reference voltage source, the first terminal of the fifth resistor is connected to the non-inverting input terminal of the second operational amplifier, the first terminal of the sixth resistor is connected to the second terminal of the fifth resistor, the second terminal of the sixth resistor is grounded, the output terminal of the second operational amplifier is connected to the second terminal of the rainwater detection unit through the seventh resistor, and the output terminal of the second operational amplifier is also connected to the inverting input terminal of the second operational amplifier. The fifth resistor and the sixth resistor are used to divide the voltage output from the reference voltage source to input a reference voltage to the non-inverting input terminal of the second operational amplifier. The second operational amplifier, acting as a voltage follower, outputs the reference voltage to the second terminal of the rainwater detection unit based on the reference voltage.

[0013] In one embodiment, the first electrode and the second electrode are non-interconnected metal points disposed on the body of the robot.

[0014] Secondly, this application also provides a robot, which includes a controller and a rain sensor as described above, the rain sensor outputting a rain detection signal to the controller.

[0015] This application provides a rain sensor and a robot. The rain sensor includes: a first electrode; a second electrode; a water storage tank, wherein the first and second electrodes are disposed in the water storage tank, and are conductive when the water storage tank contains water, and disconnected when the water storage tank does not contain water; a rain detection circuit for connecting to the robot's controller, and connected to one of the first and second electrodes, with the electrode not connected to the rain detection circuit grounded, the rain detection circuit for outputting a rain detection signal to the controller; and a heating circuit for connecting to the controller, the heating circuit for heating the water storage tank. By adding a heating circuit to the rain sensor, the above-mentioned rain sensor can control the heating circuit to heat the water storage tank when water is detected, causing the water in the tank to evaporate rapidly. This solves the problem of misjudgment when robots use traditional rain sensors to determine whether it is raining in related technologies, thereby improving the accuracy and reliability of the rain sensor in determining rainy weather. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a robot provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a rain sensor provided in an embodiment of this application; Figure 3 This is a schematic diagram of another rain sensor provided in an embodiment of this application; Figure 4 This is a partial structural schematic diagram of another rain sensor provided in an embodiment of this application; Figure 5 This is a schematic diagram of another rain sensor provided in an embodiment of this application; Figure 6 This is a schematic diagram of another rain sensor provided in an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: 100. Robot; 10. Controller; 20. Rain sensor; 200. First electrode; 201. Second electrode; 202. Water tank; 203. Rain detection circuit; 2030. Rain detection unit; 2031. Reference voltage input unit; 204. Heating circuit; 2040. Switching unit; 2041. Heating unit. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0021] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] Currently, traditional rain sensors detect rainfall by storing water in a tank. When the tank contains water, the robot assumes it's raining. Even after the rain stops, some water remains in the tank and may take some time (approximately 1-3 hours) to evaporate. Because the tank holds water for an extended period, the robot may continue to believe it's raining during this time, leading to potential misjudgments when using rain sensors to determine rainfall.

[0024] To address this, this application provides a rain sensor and a robot. By adding a heating circuit to the rain sensor, the heating circuit can be controlled to heat the water tank when water is detected, causing the water in the tank to evaporate quickly. This solves the problem of misjudgment when robots use traditional rain sensors to determine whether it is raining in related technologies, thereby improving the accuracy and reliability of the rain sensor in determining rainy weather.

[0025] For example, the rain sensor can be applied to robots such as lawnmowers, snowplows, sweeping robots, drones, food delivery robots, and welcoming robots.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please see Figure 1 , Figure 1 This is a structural schematic diagram of a robot 100 provided in an embodiment of this application. For example... Figure 1 As shown, the robot 100 may include a controller 10 and a rain sensor 20, with the rain sensor 20 outputting a rain detection signal to the controller 10.

[0028] For example, controller 10 can be the main controller of robot 100 or a microcontroller of robot 100.

[0029] For example, the controller 10 can determine whether it is raining and whether the rain has stopped based on the rain detection signal.

[0030] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a rain sensor 20 provided in an embodiment of this application. Figure 2 As shown, the rain sensor 20 includes a first electrode 200, a second electrode 201, a water storage tank 202, a rain detection circuit 203, and a heating circuit 204.

[0031] For example, such as Figure 2 As shown, the first electrode 200 and the second electrode 201 are disposed in the water storage tank 202. The first electrode 200 and the second electrode 201 are connected when the water storage tank 202 stores water, and the first electrode 200 and the second electrode 201 are disconnected when the water storage tank 202 does not store water.

[0032] The first electrode 200 and the second electrode 201 are non-interconnected metal points located on the body of the robot 100. It should be noted that by making the first electrode 200 and the second electrode 201 non-interconnected metal points, the water can be used as a conductor to connect the first electrode 200 and the second electrode 201 when water is stored in the water tank 202.

[0033] The rain detection circuit 203 is used to connect to the controller 10 of the robot 100 and to one of the first electrode 200 and the second electrode 201. The electrode not connected to the rain detection circuit 203 is grounded. The rain detection circuit 203 is used to output a rain detection signal to the controller 10.

[0034] For example, the rainwater detection signal may include a first-level signal and a second-level signal. The first-level signal indicates that the water storage tank 202 stores water, and the second-level signal indicates that the water storage tank 202 does not store water. The first-level signal may be a low-level signal, and the second-level signal may be a high-level signal; or the first-level signal may be a high-level signal, and the second-level signal may be a low-level signal.

[0035] In this embodiment, a low-level signal is used to indicate that the water tank 202 stores water, and a high-level signal is used to indicate that the water tank 202 does not store water, as an example for illustration.

[0036] For example, such as Figure 2 As shown, the rainwater detection circuit 203 can be connected to the first electrode 200, and the second electrode 201 can be grounded. Alternatively, the rainwater detection circuit 203 can be connected to the second electrode 201, and the first electrode 200 can be grounded. The rainwater detection circuit 203 can generate a rainwater detection signal and output it to the controller 10 based on the connection status between the first electrode 200 and the second electrode 201. For example, when it detects that the first electrode 200 and the second electrode 201 are connected, a low-level rainwater detection signal is generated; when it detects that the first electrode 200 and the second electrode 201 are disconnected, a high-level rainwater detection signal is generated. This allows the controller 10 to determine whether the water tank 202 is storing water based on the level of the rainwater detection signal, and thus determine whether it is raining.

[0037] For example, when the controller 10 receives a low-level rain detection signal output by the rain sensor 20, it determines that the water tank 202 is storing water, i.e., it is raining. At this time, the controller 10 can control the robot 100 to stop working and take shelter from the rain. When the controller receives a high-level rain detection signal output by the rain sensor 20, it determines that the water tank 202 is not storing water, i.e., it is not raining or it is not raining. At this time, the controller 100 can control the robot 100 to perform its work.

[0038] Heating circuit 204 is connected to controller 10 and is used to heat water tank 202.

[0039] For example, when the controller 10 detects that the water tank 202 is storing water, the controller 10 can output a heating signal to the controller 10, and the heating circuit 204 heats the water tank 202 according to the heating signal, thereby accelerating the rapid evaporation of water in the water tank 202.

[0040] In the above embodiment, by adding a heating circuit 204 to the rain sensor 20, when water is detected in the water tank 202, the heating circuit 204 can be controlled to heat the water tank 202, causing the water in the water tank 202 to evaporate quickly. This solves the problem of misjudgment when robots use traditional rain sensors 20 to determine whether it is raining in related technologies, thereby improving the accuracy and reliability of the rain sensor 20 in determining rainy days.

[0041] Please see Figure 3 , Figure 3 This is a schematic diagram of another rain sensor 20 provided in an embodiment of this application. Figure 3 As shown, the first terminal of the heating circuit 204 is connected to the controller 10, the second terminal of the heating circuit 204 is grounded, and the third terminal of the heating circuit 204 is connected to the voltage source Vcc. The heating circuit 204 is used to heat the water tank 202 with the electrical energy output from the voltage source Vcc according to the heating signal output by the controller 10, and to stop heating the water tank 202 with the electrical energy output from the voltage source Vcc according to the stop heating signal output by the controller 10.

[0042] For example, the heating signal can be a high-level signal or a low-level signal; the stop heating signal can be a low-level signal or a high-level signal. For instance, when the heating circuit 204 receives a high-level signal output by the controller 10, it uses the electrical energy output by the voltage source Vcc to heat the water tank 202; when it receives a low-level signal output by the controller 10, it stops using the electrical energy output by the voltage source Vcc to heat the water tank 202.

[0043] In the above embodiment, by setting the heating circuit 204 to heat the water storage tank 202 using electrical energy output from the voltage source Vcc according to the heating signal output by the controller 10, the heating circuit 204 can be controlled to heat the water storage tank 202, causing the water in the water storage tank 202 to evaporate quickly. This avoids the water storage tank 202 from storing water for a long time, which could lead to false rain detection, thereby improving the accuracy and reliability of the rain sensor 20 in determining rainy weather. By setting the heating circuit 204 to stop heating the water storage tank 202 using electrical energy output from the voltage source Vcc according to the stop heating signal output by the controller 10, the heating of the water storage tank 202 can be stopped after the water in the water storage tank 202 has evaporated, which could lead to the water storage tank 202 becoming too hot. This improves the safety of the robot 100 and also saves the robot 100's electrical energy.

[0044] In some embodiments, such as Figure 3As shown, the heating circuit 204 includes a switching unit 2040 and a heating unit 2041. The first terminal of the switching unit 2040 is connected to the controller 10, the second terminal of the switching unit 2040 is grounded, and the third terminal of the switching unit 2040 is connected to the first terminal of the heating unit 2041. The second terminal of the heating unit 2041 is connected to a voltage source Vcc. The switching unit 2040 is used to connect the heating unit 2041 to ground according to a heating signal output by the controller 10, so that the heating unit 2041 heats the water tank 202 according to the electrical energy output by the voltage source Vcc. It is also used to disconnect the heating unit 2041 from ground according to a stop heating signal output by the controller 10, so that the heating unit 2041 stops heating the water tank 202.

[0045] For example, when the switching unit 2040 receives a high-level signal output by the controller 10, it connects the heating unit 2041 to ground, so that the heating unit 2041 heats the water tank 202 according to the electrical energy output by the voltage source Vcc; when it receives a low-level signal output by the controller 10, the switching unit 2040 disconnects the heating unit 2041 from ground, so that the heating unit 2041 stops heating the water tank 202.

[0046] In some embodiments, such as Figure 3 As shown, the switching unit 2040 includes a switching transistor Q1. The first end of the switching transistor Q1 is connected to the controller 10, the second end of the switching transistor Q1 is grounded, and the third end of the switching transistor Q1 is connected to the first end of the heating unit 2041. The switching transistor Q1 is configured to turn on when it receives a heating signal output from the controller 10, thereby connecting the heating unit 2041 to ground, allowing the heating unit 2041 to heat the water tank 202 based on the electrical energy output from the voltage source Vcc; and to turn off when it receives a stop heating signal output from the controller 10, thereby disconnecting the heating unit 2041 from ground, causing the heating unit 2041 to stop heating the water tank 202.

[0047] For example, the switching transistor Q1 may include, but is not limited to, a transistor, a metal-oxide-semiconductor field-effect transistor (MOS), an insulated gate bipolar transistor (IGBT), an electronic switch, etc.

[0048] For example, the switching transistor Q1 can be a MOSFET. For instance, the switching transistor Q1 can be an N-type MOSFET. When the switching transistor Q1 receives a high-level signal output from the controller 10, it connects the heating unit 2041 to ground, allowing the heating unit 2041 to heat the water tank 202 based on the electrical energy output from the voltage source Vcc. When the switching transistor Q1 receives a low-level signal output from the controller 10, it disconnects the heating unit 2041 from ground, causing the heating unit 2041 to stop heating the water tank 202.

[0049] In some embodiments, the heating unit 2041 includes a positive temperature coefficient heater, a heating wire, or a heating resistor. For example, the heating unit 2041 includes a heating wire that heats up when energized to heat the water tank 202. As another example, the heating unit 2041 includes a heating resistor that heats up when energized to heat the water tank 202.

[0050] Please see Figure 4 , Figure 4 This is a partial structural schematic diagram of another rain sensor 20 provided in an embodiment of this application. (See attached diagram.) Figure 4 As shown, the heating unit 2041 is located outside the water storage tank 202 and is in contact with the water storage tank 202.

[0051] For example, the heating unit 2041 may be disposed on the bottom surface outside the water tank 202, or on the side surface outside the water tank 202.

[0052] In the above embodiment, by placing the heating unit 2041 outside the water storage tank 202 and in contact with the water storage tank 202, the heating unit 2041 can directly heat the water storage tank 202, thereby improving thermal efficiency and enabling the water in the water storage tank 202 to evaporate quickly.

[0053] Please see Figure 5 , Figure 5 This is a schematic diagram of another rain sensor 20 provided in an embodiment of this application. Figure 5As shown, the rainwater detection circuit 203 includes a rainwater detection unit 2030 and a reference voltage input unit 2031. The first terminal of the rainwater detection unit 2030 is connected to one of the first electrode 200 and the second electrode 201. The second terminal of the rainwater detection unit 2030 is connected to the reference voltage input unit 2031, and the third terminal of the rainwater detection unit 2030 is connected to the controller 10. The reference voltage input unit 2031 is used to input a reference voltage Vref to the second terminal of the rainwater detection unit 2030. The rainwater detection unit 2030 is used to output a first-level signal indicating that the water tank 202 stores water when the first electrode 200 and the second electrode 201 are connected, and to output a second-level signal indicating that the water tank 202 does not store water when the first electrode 200 and the second electrode 201 are disconnected, using the reference voltage Vref.

[0054] For example, such as Figure 5 As shown, the first terminal of the rainwater detection unit 2030 is connected to the first electrode 200, and the second electrode 201 is grounded. Alternatively, the first terminal of the rainwater detection unit 2030 can also be connected to the second electrode 201, with the first electrode 200 grounded. It should be noted that the rainwater detection unit 2030 can determine whether the first electrode 200 and the second electrode 201 are connected by detecting the voltage level at the first terminal.

[0055] For example, when the water tank 202 stores water, the first electrode 200 and the second electrode 201 are connected. Since the second electrode 201 is grounded, it will pull down the level of the first terminal. Therefore, the level of the first terminal of the rainwater detection unit 2030 is low, and the rainwater detection unit 2030 outputs a low-level first level signal to the controller 10.

[0056] For example, when the water tank 202 is not storing water, the first electrode 200 and the second electrode 201 are disconnected, and the first end of the rainwater detection unit 2030 is suspended. At this time, a high-level second-level signal can be output to the controller 10 based on the reference voltage Vref received at the second end of the rainwater detection unit 2030.

[0057] Please see Figure 6 , Figure 6 This is a schematic diagram of another rain sensor 20 provided in an embodiment of this application. Figure 6As shown, the rainwater detection unit 2030 includes a first operational amplifier U1, a first resistor R1, a second resistor R2, a third resistor R3, and a fourth resistor R4. The inverting input of the first operational amplifier U1 is connected to one of the first electrode 200 and the second electrode 201 through the first resistor R1. The non-inverting input of the first operational amplifier U1 is grounded through the second resistor R2. The output of the first operational amplifier U1 is connected to the controller 10 through the third resistor R3. The fourth resistor R4 is connected between the inverting input and the output of the first operational amplifier U1. Specifically, when the first operational amplifier U1 receives a low-level signal output from the first electrode 200 and the second electrode 201, it outputs a first-level signal to the controller 10 through its output. When the inverting input does not receive a low-level signal output from the first electrode 200 and the second electrode 201, it outputs a second-level signal to the controller 10 using the reference voltage received at its non-inverting input.

[0058] like Figure 6 As shown, the reference voltage input unit 2031 includes a fifth resistor R5, a second operational amplifier U2, a sixth resistor R6, and a seventh resistor R7. The first terminal of the fifth resistor R5 is connected to the reference voltage source V1, and the first terminal of the fifth resistor R5 is connected to the non-inverting input terminal of the second operational amplifier U2. The first terminal of the sixth resistor R6 is connected to the second terminal of the fifth resistor R5, and the second terminal of the sixth resistor R6 is grounded. The output terminal of the second operational amplifier U2 is connected to the second terminal of the rainwater detection unit 2030 through the seventh resistor R7, and the output terminal of the second operational amplifier U2 is also connected to the inverting input terminal of the second operational amplifier U2. The fifth resistor R5 and the sixth resistor R6 are used to divide the voltage output from the reference voltage source V1 to input a reference voltage to the non-inverting input terminal of the second operational amplifier U2. The second operational amplifier U2 acts as a voltage follower and outputs a reference voltage to the second terminal of the rainwater detection unit 2030 based on the reference voltage.

[0059] For example, when the voltage output by the reference voltage source V1 is 3.3V, and the resistance values ​​of the fifth resistor R5 and the sixth resistor R6 are the same, the fifth resistor R5 and the sixth resistor R6 are used to divide the voltage output by the reference voltage source V1 in a 1:1 ratio, providing a stable reference voltage of 1.65V to the non-inverting input of the second operational amplifier U2. The second operational amplifier U2 acts as a non-inverting voltage follower, and the voltage at the output of the second operational amplifier U2 is consistent with the reference voltage at its non-inverting input. Therefore, it can provide a stable reference voltage to the non-inverting input of the first operational amplifier U1.

[0060] For example, when the water tank 202 contains rainwater, the first electrode 200 and the second electrode 201 are short-circuited by the rainwater, forming a path: second electrode 201 → first electrode 200 → first resistor R1 → inverting input terminal → non-inverting input terminal → second resistor R2 → ground. At this time, the voltage at the non-inverting input terminal of the first operational amplifier U1 is pulled to the voltage at the inverting input terminal. Combined with the virtual short characteristic of the operational amplifier (the voltage at the inverting terminal ≈ the voltage at the non-inverting terminal), the negative feedback loop will force the voltage at the output terminal of the first operational amplifier U1 to drop to 0V. Finally, the controller 10 collects 0V and determines that the water tank 202 "contains rainwater". When the water tank 202 does not contain rainwater, the first electrode 200 and the second electrode 201 are open-circuited, and the non-inverting input terminal of the first operational amplifier U1 only receives the reference voltage provided by the second operational amplifier U2. At this time, the first operational amplifier U1 acts as a voltage follower. The voltage at the output terminal of the first operational amplifier U1 follows the reference voltage at the non-inverting input terminal. Finally, the controller 10 collects the reference voltage, for example, 1.65V, and determines that "there is no rain".

[0061] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A rain sensor, characterized in that, The rain sensor, used in robots, includes: First electrode; Second electrode; A water storage tank, wherein the first electrode and the second electrode are disposed in the water storage tank, the first electrode and the second electrode are connected when the water storage tank stores water, and the first electrode and the second electrode are disconnected when the water storage tank does not store water; A rain detection circuit is used to connect to the controller of the robot and to one of the first electrode and the second electrode. The electrode not connected to the rain detection circuit is grounded. The rain detection circuit is used to output a rain detection signal to the controller. A heating circuit is provided for connection to the controller and for heating the water tank.

2. The rain sensor according to claim 1, characterized in that, The first terminal of the heating circuit is connected to the controller, the second terminal of the heating circuit is grounded, and the third terminal of the heating circuit is connected to a voltage source. The heating circuit is used to heat the water tank using electrical energy output from the voltage source according to the heating signal output by the controller, and to stop heating the water tank using electrical energy output from the voltage source according to the stop heating signal output by the controller.

3. The rain sensor according to claim 2, characterized in that, The heating circuit includes a switching unit and a heating unit. The first terminal of the switching unit is connected to the controller, the second terminal of the switching unit is grounded, the third terminal of the switching unit is connected to the first terminal of the heating unit, and the second terminal of the heating unit is connected to the voltage source. The switching unit is configured to connect the heating unit to ground according to the heating signal output by the controller, so that the heating unit heats the water tank according to the electrical energy output by the voltage source, and to disconnect the heating unit from ground according to the stop heating signal output by the controller, so that the heating unit stops heating the water tank.

4. The rain sensor according to claim 3, characterized in that, The switching unit includes a switching transistor, the first end of which is connected to the controller, the second end of which is grounded, and the third end of which is connected to the first end of the heating unit. The switching transistor is configured to turn on when it receives the heating signal output by the controller, thereby connecting the heating unit to ground so that the heating unit heats the water tank according to the electrical energy output by the voltage source; and to turn off when it receives the stop heating signal output by the controller, thereby disconnecting the heating unit from ground so that the heating unit stops heating the water tank.

5. The rain sensor according to claim 3, characterized in that, The heating unit includes a positive temperature coefficient heater, a heating wire, or a heating resistor.

6. The rain sensor according to claim 3, characterized in that, The heating unit is located outside the water storage tank and is in contact with the water storage tank.

7. The rain sensor according to claim 1, characterized in that, The rainwater detection signal includes a first level signal and a second level signal; the rainwater detection circuit includes a rainwater detection unit and a reference voltage input unit, the first terminal of the rainwater detection unit is connected to one of the first electrode and the second electrode, the second terminal of the rainwater detection unit is connected to the reference voltage input unit, and the third terminal of the rainwater detection unit is connected to the controller; The reference voltage input unit is used to input a reference voltage to the second terminal of the rainwater detection unit. The rainwater detection unit is used to output a first-level signal to the controller to indicate that the water storage tank stores water when the first electrode and the second electrode are connected, and to output a second-level signal to the controller to indicate that the water storage tank does not store water when the first electrode and the second electrode are disconnected, using the reference voltage.

8. The rain sensor according to claim 7, characterized in that, The rainwater detection unit includes a first operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The inverting input terminal of the first operational amplifier is connected to one of the first electrode and the second electrode through the first resistor. The non-inverting input terminal of the first operational amplifier is grounded through the second resistor. The output terminal of the first operational amplifier is connected to the controller through the third resistor. The fourth resistor is connected between the inverting input terminal and the output terminal of the first operational amplifier. The first operational amplifier is configured to output a first-level signal to the controller through its output terminal when it receives a low-level signal output from the first electrode and the second electrode when the inverting input terminal is not receiving a low-level signal output from the first electrode and the second electrode, and to output a second-level signal to the controller using the reference voltage received at the non-inverting input terminal when the inverting input terminal is not receiving a low-level signal output from the first electrode and the second electrode.

9. The rain sensor according to claim 7, characterized in that, The reference voltage input unit includes a fifth resistor, a second operational amplifier, a sixth resistor, and a seventh resistor. The first end of the fifth resistor is connected to a reference voltage source, the first end of the fifth resistor is connected to the non-inverting input of the second operational amplifier, the first end of the sixth resistor is connected to the second end of the fifth resistor, the second end of the sixth resistor is grounded, the output of the second operational amplifier is connected to the second end of the rainwater detection unit through the seventh resistor, and the output of the second operational amplifier is also connected to the inverting input of the second operational amplifier. The fifth resistor and the sixth resistor are used to divide the voltage output from the reference voltage source to input a reference voltage to the non-inverting input terminal of the second operational amplifier. The second operational amplifier, acting as a voltage follower, outputs the reference voltage to the second terminal of the rainwater detection unit based on the reference voltage.

10. The rain sensor according to any one of claims 1-9, characterized in that, The first electrode and the second electrode are non-interconnected metal points disposed on the body of the robot.

11. A robot, characterized in that, The robot includes a controller and a rain sensor as described in any one of claims 1-10, wherein the rain sensor outputs a rain detection signal to the controller.

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