CN112790666B - Fish tank cleaning robot system and cleaning mode - Google Patents
Fish tank cleaning robot system and cleaning mode Download PDFInfo
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- CN112790666B CN112790666B CN202110142929.8A CN202110142929A CN112790666B CN 112790666 B CN112790666 B CN 112790666B CN 202110142929 A CN202110142929 A CN 202110142929A CN 112790666 B CN112790666 B CN 112790666B
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- fish tank
- control unit
- brush head
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a fish tank cleaning robot system and a cleaning mode, wherein the fish tank cleaning robot system comprises a robot, the robot comprises a three-dimensional rotating brush head, a propeller, a laser ranging sensor and a control unit, wherein the propeller, the laser ranging sensor and the control unit are connected with the three-dimensional rotating brush head; the laser ranging sensor is used for acquiring dormancy position data and sending the dormancy position data to the control unit; the control unit controls the robot to move to the dormant position according to the dormant position data; the control unit controls the propeller to enable the three-dimensional rotating brush head to approach the wall surface of the fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, when the pressure data that piezoelectric sensor detected reached the settlement threshold value, piezoelectric sensor sent control signal to the control unit, and the control unit control propeller stops to approach three-dimensional rotatory brush head to rotate clean. The invention improves the cleaning efficiency and the cleaning range, can realize more thorough cleaning and has better cleaning effect.
Description
Technical Field
The invention relates to the technical field of fish tank cleaning, in particular to a fish tank cleaning robot system and a cleaning mode.
Background
The attachments on the inner wall of the fish tank are harmful to the health of fish and also affect the ornamental value of the fish, so that the attachments on the inner wall of the fish tank need to be cleaned regularly to keep the environment of the fish tank clean. The cleaning robot is a home-only point capable of automatically performing cleaning work without manual operation, and comprises a walking driving module and a power system for driving the cleaning robot, a cleaning module for cleaning the bottom surface during walking, a control system for controlling the robot to clean according to an embedded program and avoid obstacles, and various sensors for detecting a working environment.
On one hand, the cleaning mode set by the embedded program of the cleaning robot is mostly a one-time cleaning mode without repeated cleaning, and for areas with more garbage, the cleaning effect is limited, and the cleaning robot can often miss cleaning or cannot clean thoroughly and unclean. In addition, the existing fish tank cleaning robot is used for avoiding obstacles in the fish tank, the program design is not only complicated, but also various sensors are required to be configured, and the cost is high.
On the other hand, the flat surface cleaning module of the existing underwater cleaning robot is unstable in cleaning efficiency. After a period of use, dirt on the walls can become lodged in the flat cleaning module, resulting in a reduction in the cleaning efficiency of the module. Even if the flat cleaning module is not used, more dirt can be generated after the flat cleaning module is placed under water for a long time. Therefore, the original purpose of liberating part of manpower cannot be achieved, and even more manpower can be invested to replace the cleaning module to improve the cleaning efficiency of the robot, so that the cleaning efficiency is low. Because the structure of the plane cleaning module is special, the cleaning range is limited to a certain extent, and if only the straight wall surface of the fish tank can be cleaned simply, the chicken ribs can appear when the curved surface of the fish tank is cleaned.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a fish tank cleaning robot system and a cleaning mode, which have the advantages of simple program design, low cost, capability of thoroughly cleaning an area with more garbage, better cleaning effect and capability of improving the cleaning efficiency and the cleaning range of a robot.
The invention is realized by the following technical scheme:
the fish tank cleaning robot system comprises a robot, wherein the robot comprises a three-dimensional rotating brush head, a propeller, a laser ranging sensor and a control unit, wherein the propeller, the laser ranging sensor and the control unit are connected with the three-dimensional rotating brush head;
the laser ranging sensor is used for acquiring dormancy position data and sending the dormancy position data to the control unit;
the control unit controls the robot to move to a dormant position according to the dormant position data;
the control unit controls the propeller to enable the three-dimensional rotating brush head to approach the wall surface of the fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, when pressure data that piezoelectric sensor detected reached set threshold value, piezoelectric sensor sends control signal and gives the control unit, the control unit control the propeller stops to approach three-dimensional rotatory brush head, and rotate and clean.
Preferably, the device further comprises a gyroscope, and the gyroscope is in communication connection with the control unit.
Preferably, the liquid level control device further comprises a liquid level switch, and the liquid level switch is in communication connection with the control unit.
Based on the cleaning mode of the fish tank cleaning robot system, the fish tank cleaning robot system comprises the following steps in the mode:
s1: the robot enters a working state, and the working posture is adjusted to enable the three-dimensional rotating brush head to be in a horizontal position;
s2: the robot calculates a sleep position;
s3: the robot moves to a dormant position and marks the dormant position;
s4: the robot moves from top to bottom along the normal direction of a horizontal plane, meanwhile, the three-dimensional rotating brush head keeps rotating, the wall surface is cleaned, and after the robot touches a barrier or moves to the bottom side of the side wall of the fish tank, the robot returns to the top of the fish tank along the original path;
s5: the robot advances a parameter along the wall surface in the direction perpendicular to the walking path of the step S4, and then the steps S4 and S5 are sequentially repeated until the robot finishes the cleaning work of the inner wall of the fish tank where the robot is located;
s6: the robot turns to reach the other side wall, and the direction of the three-dimensional rotating brush head is adjusted to be perpendicular to the inner wall of the current fish tank by the robot;
s7: and repeating the steps S4, S5 and S6 in sequence until the robot finishes the cleaning work of the four side walls of the fish tank, and returning the robot to the sleep position.
Specifically, after the liquid level switch detects that the water pressure reaches the specified water pressure parameter, a control signal is sent to the control unit, and the control unit starts the robot to enter a working state.
Specifically, the dormant position is a liquid level junction between two wall surfaces of the fish tank.
Specifically, after the robot reaches the sleeping position, the laser ranging sensor measures the distances between the robot and five wall surfaces of the fish tank, and sends the distance data to the robot control module to mark the sleeping position.
Preferably, in the cleaning process, the control unit obtains parameters of the brush head of the gyroscope, and then controls the shape of the three-dimensional rotating brush head and the pressure between the three-dimensional rotating brush head and the surface to be cleaned, so that the corresponding brush head cleaning mode can be specified according to different cleaning surfaces, and the cleaning range of the robot is improved.
Specifically, in step S5, one parameter of the robot advance is the maximum diameter of the stereoscopic rotary brush head during operation.
The working principle of the invention is as follows:
the robot is powered on, when the liquid level switch detects that the water pressure reaches the specified water pressure parameter, a control signal is sent to the control unit, the control unit starts the robot to enter a working state, and the working safety of the robot is improved.
The robot cleaning device comprises a laser sensor, a control unit and a three-dimensional rotating brush head, wherein the laser sensor acquires dormant position data and sends the dormant position data to the control unit, the control unit is matched with the laser sensor to control the robot to move to a dormant position, and after the robot reaches the dormant position, the control unit controls a propeller opposite to the three-dimensional rotating brush head to enable the three-dimensional rotating brush head to approach the wall surface of a fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, when pressure data that piezoelectric sensor detected reach the settlement threshold value, piezoelectric sensor sends control signal and gives the control unit, the control unit is through control three-dimensional rotatory brush head relative propeller realizes three-dimensional rotatory brush head stops to be close to it is rotatory clean to carry out. In the cleaning process, when other surfaces (such as rockery) in the fish tank are cleaned, the propulsion scheme can be adjusted according to parameters provided by the laser ranging sensor, the control unit obtains the parameters of the gyroscope, and then the shape of the brush head and the pressure between the fiber bristles and the surface to be cleaned are adjusted, so that the corresponding cleaning mode can be customized according to different surfaces to be cleaned, and the cleaning range of the robot is improved. When the robot moves in the tank, the three-dimensional rotating brush head can drive surrounding water, the vortex can drive part of dirt which is sunk to the bottom of the tank or the surface of a decorative object in the tank, and the cleaning efficiency can be improved by matching with a water treatment system configured in the fish tank.
The fish tank cleaning robot has the advantages that the cleaning region is cleaned back and forth in the cleaning mode, so that the cleaning region is cleaned more thoroughly, the cleaning effect is better, meanwhile, the robot is moved only by matching the control unit with the laser sensor, the obstacle is avoided, and the cost is reduced.
The invention has the following advantages and beneficial effects:
1. according to the fish tank cleaning robot system and the cleaning mode, the liquid level switch is arranged, so that the working safety of the robot is improved;
2. according to the fish tank cleaning robot system and the cleaning mode, the three-dimensional rotating brush head is arranged, so that the cleaning efficiency and the cleaning range of the robot are improved;
3. the invention provides a fish tank cleaning robot system and a cleaning mode, and provides the cleaning mode, so that the cleaning effect is improved, and the cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a system structure diagram of the present invention.
FIG. 2 is a flow chart of the cleaning mode of the present invention.
Fig. 3 is a schematic view of a cleaning mode of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
On the one hand, the cleaning mode of the existing cleaning robot is mostly a one-time cleaning mode without repeated cleaning, and the cleaning effect is limited for areas with more garbage, and the cleaning robot can often miss sweeping or incomplete and unclean cleaning. In addition, the existing fish tank cleaning robot is used for avoiding obstacles in the fish tank, the program design is not only complicated, but also various sensors are required to be configured, and the cost is high.
On the other hand, the flat surface cleaning module of the existing cleaning robot is unstable in cleaning efficiency. After a period of use, dirt on the walls can become lodged in the flat cleaning module, resulting in a reduction in the cleaning efficiency of the module. Because the structure of the plane cleaning module is special, the cleaning range is limited to a certain extent, and if only the straight wall surface of the fish tank can be cleaned simply, the chicken ribs can appear when the curved surface of the fish tank is cleaned.
The embodiment provides a fish tank cleaning robot system, as shown in fig. 1, which includes a robot, wherein the robot includes a three-dimensional rotating brush head, and a propeller, a laser ranging sensor and a control unit which are connected with the three-dimensional rotating brush head;
the laser ranging sensor is used for acquiring dormancy position data and sending the dormancy position data to the control unit; the control unit controls the robot to move to the dormant position according to the dormant position data; the control unit controls the propeller to enable the three-dimensional rotating brush head to approach the wall surface of the fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, when the pressure data that piezoelectric sensor detected reached the settlement threshold value, piezoelectric sensor sent control signal to the control unit, and the control unit control propeller stops to approach three-dimensional rotatory brush head to rotate clean.
This embodiment still includes gyroscope and liquid level switch, and gyroscope and liquid level switch all with the control unit communication connection.
As shown in fig. 2, the fish tank cleaning robot system based on the above fish tank cleaning robot system has a cleaning mode, in which the fish tank cleaning robot system includes the following steps:
s1: the robot enters a working state, and the working posture is adjusted to enable the three-dimensional rotating brush head to be in a horizontal position;
s2: the robot calculates a sleep position;
s3: the robot moves to a dormant position and marks the dormant position;
s4: the robot moves from top to bottom along the normal direction of a horizontal plane, meanwhile, the three-dimensional rotating brush head keeps rotating, the wall surface is cleaned, and after the robot touches a barrier or moves to the bottom side of the side wall of the fish tank, the robot returns to the top of the fish tank along the original path;
s5: the robot advances a parameter along the wall surface in the direction perpendicular to the walking path of the step S4, and then the steps S4 and S5 are sequentially repeated until the robot finishes the cleaning work of the inner wall of the fish tank where the robot is located;
s6: the robot turns to reach the other side wall, and the direction of the three-dimensional rotating brush head is adjusted to be perpendicular to the inner wall of the current fish tank by the robot;
s7: and repeating the steps S4, S5 and S6 in sequence until the robot finishes the cleaning work of the four side walls of the fish tank, and returning the robot to the sleep position.
The cleaning path of the robot of the present embodiment is shown in fig. 3.
Step 5, one parameter of the robot advancing is the maximum diameter of the three-dimensional rotating brush head during working. After the liquid level switch detects that the water pressure reaches the designated parameter, a signal is sent to the control unit, and the control unit starts the robot to enter a working state. Under the underwater premise, the distance between the robot and the top of the fish tank is minimum, and the position of the junction of the two sides of the inner wall of the fish tank is a dormant position. After the robot reaches the dormancy position, the laser ranging sensor measures the distance between the robot and five wall surfaces of the fish tank, and sends the distance data to the robot control module to mark the dormancy position. After the robot moves to the dormant position, the control unit controls the three-dimensional rotating brush head to approach the wall surface of the fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, piezoelectric sensor are used for detecting the pressure that three-dimensional rotatory brush head bore, when the pressure data that piezoelectric sensor detected reached the settlement threshold value, piezoelectric sensor sent a signal to the control unit, and the control unit control three-dimensional rotatory brush head stops to be close, rotates cleanly. In the cleaning process, the control unit acquires parameters of the gyroscope, and further controls the shape of the three-dimensional rotating brush head and the pressure between the three-dimensional rotating brush head and the surface to be cleaned, so that the corresponding brush head cleaning mode can be specified according to different cleaning surfaces, and the cleaning range of the robot is improved.
The working principle of the embodiment is as follows:
the robot is powered on, when the liquid level switch detects that the water pressure reaches the designated parameters, a signal is sent to the control unit, and the control unit starts the robot to enter a working state, so that the working safety of the robot is improved.
The control unit is matched with the laser sensor to control the robot to move to the dormant position, and after the robot reaches the dormant position, the control unit controls the propeller opposite to the stereoscopic rotary brush head to enable the stereoscopic rotary brush head to approach the wall surface of the fish tank to be cleaned; the inside of the three-dimensional rotating brush head is provided with a piezoelectric sensor, when pressure data detected by the piezoelectric sensor reaches a set threshold value, the piezoelectric sensor sends a signal to the control unit, and the control unit controls the propeller opposite to the three-dimensional rotating brush head to stop approaching the three-dimensional rotating brush head and perform rotating cleaning. In the cleaning process, when other surfaces (such as rockery) in the fish tank are cleaned, the propulsion scheme can be adjusted according to parameters provided by the laser ranging sensor, the control unit obtains parameters of the gyroscope, and then the shape of the brush head, the pressure between the fiber bristles and the surface to be cleaned are adjusted, so that the corresponding cleaning mode can be customized according to different surfaces to be cleaned, and the cleaning range of the robot is improved. When the robot moves in the jar, the brush head can drive surrounding water, the vortex can drive part of dirt which is already sunk to the bottom of the jar or the surface of an ornament in the jar, and the cleaning efficiency can be improved by matching with a water treatment system configured in the fish jar.
The fish tank cleaning robot of this embodiment has the cleaning action of making a round trip to clean area under this clean mode for to clean regional clean more thoroughly, clean effect is better, simultaneously, only needs the control unit cooperation laser sensor removes the robot, and keeps away the barrier, cost reduction.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A cleaning method of a fish tank cleaning robot is characterized in that based on a fish tank cleaning robot system, the fish tank cleaning robot system comprises a robot, the robot comprises a three-dimensional rotating brush head, a propeller connected with the three-dimensional rotating brush head, a laser ranging sensor and a control unit; the laser ranging sensor is used for acquiring dormancy position data and sending the dormancy position data to the control unit;
the control unit controls the robot to move to a dormant position according to the dormant position data;
the control unit controls the propeller to enable the three-dimensional rotating brush head to approach the wall surface of the fish tank to be cleaned; the inside piezoelectric sensor that is equipped with of three-dimensional rotatory brush head, when the pressure data that piezoelectric sensor detected reached set threshold value, piezoelectric sensor sends control signal to the control unit, the control unit control the propeller stops to approach three-dimensional rotatory brush head, and rotate and clean, then fish bowl cleaning robot system include the following step under clean mode:
s1: the robot enters a working state, and the working posture is adjusted to enable the three-dimensional rotating brush head to be in a horizontal position;
s2: the robot calculates a sleep position;
s3: the robot moves to a dormant position and marks the dormant position;
s4: the robot moves from top to bottom along the normal direction of a horizontal plane, meanwhile, the three-dimensional rotating brush head keeps rotating, the wall surface is cleaned, and after the robot touches a barrier or moves to the bottom side of the side wall of the fish tank, the robot returns to the top of the fish tank along the original path;
s5: the robot advances a parameter along the wall surface in the direction perpendicular to the walking path of the step S4, and then the steps S4 and S5 are sequentially repeated until the robot finishes the cleaning work of the inner wall of the fish tank where the robot is located;
s6: the robot turns to reach the other side wall, and the direction of the three-dimensional rotating brush head is adjusted to be perpendicular to the inner wall of the current fish tank by the robot;
s7: and repeating the steps S4, S5 and S6 in sequence until the robot finishes the cleaning work of the four side walls of the fish tank, and returning the robot to the sleep position.
2. A cleaning method of a fish tank cleaning robot as claimed in claim 1, wherein the liquid level switch sends a control signal to the control unit after detecting that the water pressure reaches a specified water pressure parameter, and the control unit starts the robot to enter a working state.
3. The cleaning method of a robot for cleaning a fish tank as claimed in claim 1, wherein the laser ranging sensor obtains the sleeping position according to the position of the robot and the distances between the robot and four walls of the fish tank.
4. A cleaning method for a robot cleaner for aquarium as defined in claim 1, wherein the resting position is a liquid level boundary between two walls of the aquarium.
5. A cleaning method of a fish tank cleaning robot as claimed in claim 1, wherein after the robot reaches the sleeping position, the laser ranging sensor measures the distance of the robot relative to five wall surfaces of the fish tank, and sends the distance data to the robot control module to mark the sleeping position.
6. A cleaning method for a fish tank cleaning robot as claimed in claim 1, wherein the control unit obtains parameters of the brush head of the gyroscope to control the direction of the stereoscopic rotating brush head during the cleaning process.
7. A cleaning method for an aquarium cleaning robot as claimed in claim 1, wherein in step S5, one parameter of the robot advance is the maximum diameter of the stereoscopic rotary brush head during operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110142929.8A CN112790666B (en) | 2021-02-02 | 2021-02-02 | Fish tank cleaning robot system and cleaning mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110142929.8A CN112790666B (en) | 2021-02-02 | 2021-02-02 | Fish tank cleaning robot system and cleaning mode |
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| CN112790666A CN112790666A (en) | 2021-05-14 |
| CN112790666B true CN112790666B (en) | 2022-03-25 |
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| CN1540119A (en) * | 2003-04-23 | 2004-10-27 | 上海电动工具研究所 | Pond cheanser possesing capability of determining dirt |
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| CN1743630A (en) * | 2004-09-02 | 2006-03-08 | 卓景顾问有限公司 | Pond cleaning machine and its cleaning method |
| CN106826865A (en) * | 2017-03-29 | 2017-06-13 | 上海海事大学 | Bathtub cleaning robot |
| CN207305813U (en) * | 2017-08-07 | 2018-05-04 | 重庆大学 | Fish jar cleaning robot |
| CN109108021A (en) * | 2018-10-09 | 2019-01-01 | 山东拜罗智能科技有限公司 | A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning |
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2021
- 2021-02-02 CN CN202110142929.8A patent/CN112790666B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1540119A (en) * | 2003-04-23 | 2004-10-27 | 上海电动工具研究所 | Pond cheanser possesing capability of determining dirt |
| KR20040101953A (en) * | 2004-08-19 | 2004-12-03 | 주식회사 에스피레저 | A Swimming Pool Cleaning Robot Having Obstacle Sensing Funcine |
| CN1743630A (en) * | 2004-09-02 | 2006-03-08 | 卓景顾问有限公司 | Pond cleaning machine and its cleaning method |
| CN106826865A (en) * | 2017-03-29 | 2017-06-13 | 上海海事大学 | Bathtub cleaning robot |
| CN207305813U (en) * | 2017-08-07 | 2018-05-04 | 重庆大学 | Fish jar cleaning robot |
| CN109108021A (en) * | 2018-10-09 | 2019-01-01 | 山东拜罗智能科技有限公司 | A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning |
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| CN112790666A (en) | 2021-05-14 |
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