Cleaning robot

Abstract

The present application relates to the technical field of robots. Disclosed is a cleaning robot. The cleaning robot comprises a water tank, a base station and a water-tank overflow detection apparatus, wherein the base station comprises a control unit, and the water-tank overflow detection apparatus comprises a first magnetic element, a first Hall sensor and a floating element. The first magnetic element is arranged in the floating element; the floating element is arranged in the water tank; and the first Hall sensor is connected to the control unit. By arranging the first magnetic element in the floating element in the water tank, when the water tank overflows, the first Hall sensor can detect the first magnetic element and send a first sensing signal to the control unit; and at this time, the control unit determines that the water tank overflows, and sends prompt information to alert a user to take action, and thus a water-tank overflow detection function can be accurately implemented.

Description

A cleaning robot

[0001] Citation of Related Applications

[0002] This application claims priority to the Chinese patent application number 202322605192.6 filed with the State Intellectual Property Office of the People's Republic of China on September 21, 2023, entitled "A Cleaning Robot", and incorporates its entire contents into this application by reference. Technical Field

[0003] The present application relates to the field of robotics, and in particular to a cleaning robot. Background Art

[0004] As people's living standards improve, cleaning robots are becoming more and more popular, and manufacturers are also increasingly focusing on their research into cleaning robots.

[0005] Every cleaning robot requires a water tank, consisting of two tanks: a fresh water tank for storing fresh water and a wastewater tank for collecting wastewater. For removable water tanks, the system must be able to detect when the tank is fully placed and detect overflowing wastewater tanks to alert the user that wastewater disposal is necessary.

[0006] Application Contents

[0007] The technical problem to be solved by the embodiments of the present application is how to realize overflow detection of a water tank.

[0008] In order to solve the above problems, in a first aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot comprising: a water tank, a base station, and a water tank overflow detection device;

[0009] The base station includes: a control unit, and the water tank overflow detection device includes: a first magnetic member, a first Hall sensor, and a floating member;

[0010] The first Hall sensor is connected to the control unit;

[0011] The first magnetic member is disposed in the floating member, the floating member is disposed in the water tank, and the floating member floats on the water surface in the water tank;

[0012] When the water level in the water tank reaches a preset overflowing position, the first Hall sensor senses the first magnetic member and sends a first sensing signal to the control unit.

[0013] A further technical solution is that the water tank overflow detection device further includes a guide rail, the guide rail is arranged on the inner side of the water tank, and the floating member is embedded in the guide rail;

[0014] The floating member can slide up and down in the guide rail as the water level in the water tank rises or falls.

[0015] A further technical solution is that when the water level in the water tank reaches a preset overflowing position, the distance between the first magnetic member and the first Hall sensor is less than or equal to the maximum detection distance of the first Hall sensor.

[0016] A further technical solution is that the cleaning robot further includes a water tank in-place detection device;

[0017] The water tank is detachably mounted in the base station; the water tank in-position detection device includes a second magnetic member and a second Hall sensor;

[0018] The second magnetic member is provided on the water tank, the second Hall sensor is provided on the base station, and the control unit is connected to the second Hall sensor;

[0019] Wherein, when the water tank is installed in the base station, the second Hall sensor senses the second magnetic member and sends a second sensing signal to the control unit.

[0020] A further technical solution is that when the water tank is installed in the base station, the distance between the second magnetic member and the second Hall sensor is less than or equal to the maximum detection distance of the second Hall sensor.

[0021] A further technical solution is that the distance between the first magnetic member of the water tank overflow detection device and the second Hall sensor of the water tank position detection device is greater than the maximum detection distance of the second Hall sensor;

[0022] The distance between the second magnetic component of the water tank in-place detection device and the first Hall sensor of the water tank overflow detection device is greater than the maximum detection distance of the first Hall sensor.

[0023] A further technical solution is that the second magnetic member is arranged on the handle of the water tank.

[0024] A further technical solution is that the first Hall sensor is a bipolar Hall sensor;

[0025] The second Hall sensor is a bipolar Hall sensor.

[0026] A further technical solution is that the first Hall sensor is arranged at the base station.

[0027] A further technical solution is that the water tank in-place detection device further includes a connector, a first TVS (Transient Voltage Suppressor) tube, a second TVS tube and a capacitor, the second Hall sensor includes a signal output pin, and the connector includes a signal input pin and a power input pin;

[0028] The signal output pin is connected to the signal input pin, and the signal input pin is connected to the control unit;

[0029] A first end of the first TVS tube is connected to the signal input pin, and a second end of the first TVS tube is grounded;

[0030] A first end of the second TVS tube is connected to the power input pin, and a second end of the second TVS tube is grounded;

[0031] A first end of the capacitor is connected to the power input pin, and a second end of the capacitor is grounded.

[0032] Compared with the prior art, the technical effects achieved by the embodiments of the present application include at least:

[0033] By setting the first magnetic part in the floating part in the water tank, when the water tank is full, the first Hall sensor can detect the first magnetic part and send a first induction signal to the control unit. At this time, the control unit determines that the water tank is full, issues a prompt message, and reminds the user to deal with it, thereby accurately realizing the water tank overflow detection function.

[0034] By setting the second magnetic part on the water tank and the second Hall sensor on the base station, when the water tank is in place, the second Hall sensor can detect the second magnetic part and send a second induction signal to the control unit, so that the control unit determines that the water tank is in place, thereby accurately realizing the water tank in place detection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0038] FIG1 is a structural block diagram of a water tank overflow detection device for a cleaning robot provided in an embodiment of the present application;

[0039] FIG2 is a schematic diagram showing the position of a first magnetic component in a water tank of a water tank overflow detection device of a cleaning robot provided in an embodiment of the present application.

[0040] FIG3 is a structural block diagram of a water tank in-place detection device for a cleaning robot provided in an embodiment of the present application;

[0041] FIG4 is a schematic diagram showing the position of a second magnetic member in a water tank of a water tank in-position detection device for a cleaning robot provided by an embodiment of the present application;

[0042] FIG5 is a circuit diagram of a second Hall sensor of a water tank in-place detection device of a cleaning robot provided in an embodiment of the present application;

[0043] FIG6 is a circuit diagram of a connector of a water tank in-place detection device for a cleaning robot provided in an embodiment of the present application;

[0044] Reference numerals include a water tank 10 , a control unit 20 , a second magnetic member 30 , a second Hall sensor 40 , a first magnetic member 50 , a first Hall sensor 60 , a floating member 70 , a guide rail 80 , a chute 90 , and a base station 100 . DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0047] It should also be understood that the terms used in this specification of the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. As used in the specification of the embodiments of the present application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0048] As shown in FIG1 , an embodiment of the present application provides a cleaning robot, which includes a water tank 10, a water tank overflow detection device, and a base station 100. The base station 100 includes a control unit 20. The water tank 10 may be a sewage tank. The control unit 20 may be a controller.

[0049] The water tank overflow detection device includes a first magnetic member 50, a first Hall effect sensor 60, and a floating member 70. The first magnetic member 50 is disposed within the floating member 70, which is disposed within the water tank 10. The first Hall effect sensor 60 is connected to the control unit 20. The floating member 70 floats on the surface of the water in the water tank 10. When the water level in the water tank 10 reaches a preset overflow level, the first Hall effect sensor 60 senses the first magnetic member 50 and sends a first sensing signal to the control unit 20. The first sensing signal can be a digital signal or an analog signal, depending on the type of the first Hall effect sensor 60. The first Hall effect sensor 60 is disposed in the cleaning robot, for example, in the base station 100.

[0050] The floating member 70 may be specifically a float ball, and the first magnetic member 50 may be specifically a magnet. The floating member 70 may float on the water surface in the water tank 10 and move up and down as the water surface changes up and down.

[0051] Working Principle: The overflow position is pre-set in the water tank 10. When the water level in the water tank 10 reaches the overflow position, the first magnetic member 50 is within the detection range of the first Hall sensor 60. The first Hall sensor 60 senses the first magnetic member 50 and sends a first sensing signal to the control unit 20. The control unit 20 determines that the water tank is overflowing and issues a prompt message to remind the user to take action. When the water level in the water tank 10 does not reach the overflow position, the first magnetic member 50 is not within the detection range of the first Hall sensor 60 and cannot sense the first magnetic member 50. At this time, the first Hall sensor 60 does not send the first sensing signal, and the control unit 20 therefore determines that the water tank 10 is not overflowing.

[0052] At the same time, in an embodiment of the present application, the first magnetic part 50 is installed in the water tank 10, and the first Hall sensor 60 is installed in the cleaning robot. Thus, there is no need to arrange the circuit in the water tank 10, which can avoid the circuit being affected by the water vapor in the water tank. On the one hand, it improves safety, and on the other hand, it can also increase the life of electronic components.

[0053] The technical solution of the embodiment of the present application is to set the first magnetic part 50 in the floating part 70 in the water tank 10. When the water tank is full, the first Hall sensor 60 can detect the first magnetic part 50 and send a first induction signal to the control unit 20. At this time, the control unit 20 determines that the water tank is full, issues a prompt message, and reminds the user to handle it, thereby accurately realizing the water tank overflow detection function.

[0054] Furthermore, as shown in Figure 2, the water tank overflow detection device also includes a guide rail 80, which is arranged on the inner side of the water tank 10, and the floating member 70 is embedded in the guide rail 80, wherein the floating member 70 can slide up and down in the guide rail 80 as the water level in the water tank 10 rises or falls.

[0055] Specifically, the guide rail 80 is disposed on the inner side of the water tank 10, extending from the bottom to the top. A slide groove 90 is provided on the float 70, and the slide rail is embedded in the slide groove 90. When the water level in the water tank 10 rises, the float 70 rises along the guide rail 80 under the action of buoyancy. When the water level in the water tank 10 falls, the float 70 descends along the guide rail 80 under the action of gravity. The guide rail 80 serves as a guide, allowing the float 70 to slide securely along the guide rail 80, preventing the float 70 from moving unsteadily within the water tank 10, which could result in inaccurate detection.

[0056] Furthermore, when the water level in the water tank 10 reaches a preset overflow level, the distance between the first magnetic member 50 and the first Hall sensor 60 is less than or equal to a first maximum detection distance of the first Hall sensor 60. The first maximum detection distance is determined by the type of the first Hall sensor 60 and is typically 30 mm. The first magnetic member 50 can be detected by the first Hall sensor 60 within the maximum detection distance.

[0057] In the embodiment of the present application, the first magnetic member 50 may be specifically a magnet.

[0058] It should be noted that according to whether the output is digital or analog, Hall sensors are divided into digital and analog types; according to the activation and shutdown working characteristics, Hall sensors are divided into unipolar and bipolar types.

[0059] In the present application, the first Hall sensor 60 has a digital output and uses bipolarity, that is, the first Hall sensor 60 is a bipolar Hall sensor. This is because in the present application, only the presence of a magnetic field is needed to determine whether the water level in the water tank 10 has reached the overflow position. When the magnetic field threshold is reached, a 0 or 1 signal is output, without requiring an analog output that precisely determines the strength of the magnetic field. Bipolar detection facilitates production processes and eliminates the need to distinguish between the south and north poles of a magnet.

[0060] At the same time, the output of the digitally output first Hall sensor 60 has a judgment buffer zone, which avoids the continuous triggering of the first Hall sensor 60 due to the shaking of water in the water tank during the judgment of the rising water level, thereby meeting actual application needs.

[0061] 3 , the cleaning robot further includes a water tank presence detection device, and the water tank 10 is detachably mounted in the base station 100. The water tank 10 can be a sewage tank or a clean water tank. The control unit 20 can be, for example, a controller.

[0062] The water tank presence detection device includes a second magnetic member 30 and a second Hall effect sensor 40. The second magnetic member 30 is disposed on the water tank 10, the second Hall effect sensor 40 is disposed on the base station 100, and the control unit 20 is connected to the second Hall effect sensor 40. For example, referring to FIG4 , the second magnetic member 30 can be disposed on the handle of the water tank 10.

[0063] When the water tank 10 is installed in the base station 100, the second Hall sensor 40 senses the second magnetic member 30 and sends a second sensing signal to the control unit 20. The second sensing signal can be a digital signal or an analog signal, which is determined by the type of the second Hall sensor 40.

[0064] Working Principle: When the water tank 10 is installed in the base station 100, the second magnetic member 30 is within the detection range of the second Hall sensor 40. The second Hall sensor 40 senses the second magnetic member 30 and sends a second sensing signal to the control unit 20, thereby determining that the water tank is in place. When the water tank 10 is detached from the base station 100, the second magnetic member 30 is no longer within the detection range of the second Hall sensor 40 and cannot sense the second magnetic member 30. At this time, the second Hall sensor 40 does not send the second sensing signal, thereby determining that the water tank 10 is not in place.

[0065] The technical solution of the embodiment of the present application is to set the second magnetic part 30 on the water tank 10 and the second Hall sensor 40 on the base station 100. When the water tank is in place, the second Hall sensor 40 can detect the second magnetic part 30 and send a second induction signal to the control unit 20. The control unit 20 then determines that the water tank is in place, thereby accurately realizing the water tank in place detection function.

[0066] Furthermore, referring to FIG. 5-6 , the water tank in-place detection device further includes a connector J501 , and the second Hall sensor 40 is connected to the control unit 20 via the connector J501 .

[0067] Specifically, the second Hall sensor 40 includes a signal output pin VOUT, and the connector J501 includes a signal input pin 3. The signal output pin VOUT is connected to the signal input pin 3, which is in turn connected to the control unit 20. The connector J501 is used to connect the output cable of the second Hall sensor 40 to the cable of the control unit 20, improving the reliability of the connection and also storing the cable for a better aesthetic appearance.

[0068] Furthermore, the water tank presence detection device further includes a first TVS diode T1, a first end of which is connected to the signal input pin 3, and a second end of which is grounded. The first TVS diode T1 absorbs surge current in the circuit, thereby improving circuit safety.

[0069] Furthermore, the water tank presence detection device also includes a second TVS diode T2 and a capacitor C500. Connector J501 includes power input pin 1. The first end of the second TVS diode T2 is connected to power input pin 1, and the second end of the second TVS diode T2 is grounded. The first end of the capacitor C500 is connected to power input pin 1, and the second end of the capacitor C500 is grounded. The second TVS diode T2 absorbs surge current in the circuit, improving circuit safety. The capacitor C500 provides filtering, improving circuit stability and preventing false detections.

[0070] It should be noted that TVS is the abbreviation of Transient Voltage Suppressor, and its Chinese meaning is transient voltage suppression diode.

[0071] Furthermore, when the water tank 10 is installed in the base station 100, the distance between the second magnetic member 30 and the second Hall sensor 40 is less than or equal to the second maximum detection distance of the second Hall sensor 40. The second maximum detection distance is determined by the type of the second Hall sensor 40 and is typically 30 mm. The second magnetic member 30 can be detected by the second Hall sensor 40 within the maximum detection distance.

[0072] In the embodiment of the present application, the second magnetic member 30 may be specifically a magnet.

[0073] It should be noted that according to whether the output is digital or analog, Hall sensors are divided into digital and analog types; according to the activation and shutdown working characteristics, Hall sensors are divided into unipolar and bipolar types.

[0074] In this application, the second Hall sensor 40 has a digital output and uses bipolarity, that is, the second Hall sensor 40 is a bipolar Hall sensor. Because in this application, only the presence of a magnetic field is needed to determine whether the water tank 10 has been placed in place. If the magnetic field threshold is reached, a 0 or 1 signal is output, without the need for an analog output that precisely knows the strength of the magnetic field. Bipolar detection can facilitate the production process and does not require distinguishing between the south and north poles of the magnet.

[0075] It should be noted that the connection method between the first Hall sensor 60 and the control unit 20 can refer to the connection method between the second Hall sensor and the control unit 20 in the aforementioned embodiment, and will not be repeated in this embodiment of the application.

[0076] Furthermore, the distance between the first magnetic member 50 of the water tank overflow detection device and the second Hall sensor 40 of the water tank presence detection device is greater than the second maximum detection distance of the second Hall sensor 40. The second maximum detection distance is determined by the type of the second Hall sensor 40 and is typically 30 mm. Since the distance between the first magnetic member 50 and the second Hall sensor 40 is greater than the second maximum detection distance, the second Hall sensor 40 cannot detect the first magnetic member 50, thus avoiding false positives.

[0077] The distance between the second magnetic element 30 of the water tank presence detection device and the first Hall effect sensor 60 of the water tank overflow detection device is greater than the first maximum detection distance of the first Hall effect sensor 60. The first maximum detection distance is determined by the type of the first Hall effect sensor 60 and is typically 30 mm. Since the distance between the second magnetic element 30 and the first Hall effect sensor 60 is greater than the first maximum detection distance, the first Hall effect sensor 60 cannot detect the second magnetic element 30, thus avoiding false positives.

[0078] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0079] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0081] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0082] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0083] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0084] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0085] The above description is a specific embodiment of the present application, but the scope of protection of the present 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 such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: a water tank, a base station and a water tank overflow detection device; The base station comprises: a control unit, and the water tank overflow detection device comprises: a first magnetic member, a first Hall sensor and a floating member; The first Hall sensor is connected to the control unit; The first magnetic member is disposed in the floating member, the floating member is disposed in the water tank, and the floating member floats on the water surface in the water tank; When the water level in the water tank reaches a preset overflowing position, the first Hall sensor senses the first magnetic member and sends a first sensing signal to the control unit.

2. The cleaning robot according to claim 1, characterized in that: The water tank overflow detection device further comprises a guide rail, the guide rail is arranged on the inner side of the water tank, and the floating member is embedded in the guide rail; Wherein, the floating member can slide up and down in the guide rail as the water level in the water tank rises or falls.

3. The cleaning robot according to claim 1, characterized in that: When the water level in the water tank reaches a preset overflowing position, the distance between the first magnetic member and the first Hall sensor is less than or equal to the maximum detection distance of the first Hall sensor.

4. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a water tank in-place detection device; The water tank is detachably installed in the base station; the water tank in-place detection device includes a second magnetic member and a second Hall sensor; The second magnetic member is disposed on the water tank, the second Hall sensor is disposed on the base station, and the control unit is connected to the second Hall sensor; Wherein, when the water tank is installed in the base station, the second Hall sensor senses the second magnetic member and sends a second sensing signal to the control unit.

5. The cleaning robot according to claim 4, characterized in that: When the water tank is installed in the base station, the distance between the second magnetic member and the second Hall sensor is less than or equal to the maximum detection distance of the second Hall sensor.

6. The cleaning robot according to claim 4, characterized in that: The distance between the first magnetic member of the water tank overflow detection device and the second Hall sensor of the water tank in-place detection device is greater than the maximum detection distance of the second Hall sensor; The distance between the second magnetic component of the water tank in-place detection device and the first Hall sensor of the water tank overflow detection device is greater than the maximum detection distance of the first Hall sensor.

7. The cleaning robot according to claim 4, characterized in that: The second magnetic member is arranged on the handle of the water tank.

8. The cleaning robot according to claim 4, characterized in that: The first Hall sensor is a bipolar Hall sensor; The second Hall sensor is a bipolar Hall sensor.

9. The cleaning robot according to any one of claims 1 to 8, characterized in that: The first Hall sensor is arranged at the base station.

10. The cleaning robot according to any one of claims 4 to 8, characterized in that: The water tank in-place detection device also includes a connector, a first transient voltage suppression diode TVS tube, a second TVS tube and a capacitor, the second Hall sensor includes a signal output pin, and the connector includes a signal input pin and a power input pin; The signal output pin is connected to the signal input pin, and the signal input pin is connected to the control unit; The first end of the first TVS tube is connected to the signal input pin, and the second end of the first TVS tube is grounded; A first end of the second TVS tube is connected to the power input pin, and a second end of the second TVS tube is grounded; A first end of the capacitor is connected to the power input pin, and a second end of the capacitor is grounded.

Images