CN100343463C - Pond cheanser possesing capability of determining dirt - Google Patents

Abstract

The present invention relates to a water pool cleaner capable of discriminating dirt, which can be used in professional or commercial swimming fields and water reservoirs with similar requirements. The present invention is composed of a motor sealed encloser, a brushless direct current water pump motor, an infrared distance measurement sensor, a box body, a water flow circulation outlet, a filter bag, an industrial control computer, relevant software, a PT resistance pool water temperature sensor, a pool water quality pH value sensor, a track mounted creeping mechanism, a rolling brush, a combined cable, a plug assembly and a mixed stepping motor. The present invention is characterized in that a dirt discrimination device is arranged on the box body. The present invention has the advantages of adoption of an intelligent adaptive technique for computer control and alternating current and direct current low-pressure drive, simple structure, strong universality and high reliability; corresponding cleaning intensity can be selected by different distribution conditions of the dirt at the bottom of a pool.

Description

The pond washer that possesses the dirt discriminating power

Technical field

The present invention relates to a kind of pond washer that possesses the dirt discriminating power, the reservoir that can be used for specialty or operational swimming place and hall and similar demand is arranged belongs to Intellectualized electric utensil technical field.

Background technology

At the bottom of the pond, pond and pool wall be subjected to the erosion of various impurity and foreign material in the water, pollute, precipitation, need regularly to clean, with the swimming pool is example, traditional method is manually-operated, utilizing the row brush cleaning head that attaches the water pump suction pipe to drag back and forth scrubs, dirt and Chi Shui are extracted out together, labour intensity is big, efficient is low, and water resource waste is serious, the external pond washer of exploitation in recent years, the utilization Single-chip Controlling, can detect the swimming pool area automatically, scavenging period and operational mode are set automatically, but because the dirt distribution is uneven, if the area with swimming pool is an entire work process of removing to control washer according to setting-up time merely, in time, it is not high to clean proportion in most of operations, and cleaning efficiency is not high.

Summary of the invention

The purpose of this invention is to provide a kind of dirt in various degree and distribute, apply the pond washer that possesses the dirt discriminating power of the cleaning requirement of different dynamics.

For realizing above purpose, technical scheme of the present invention provides a kind of pond washer that possesses the dirt discriminating power, by performance element and land control module are formed under water, performance element comprises motor seal formula case under water, the brushless direct-current pump motor, infrared distance sensor, housing, water circulation outlet and filter bag, PT resistance pond water temperature sensor, pond water quality pH value sensor, the crawler type climbing mechanism, round brush and composite stepper motor, the land control module is the industrial control computer of configuration software, pass through combination cable between Unit two, plug-assembly connects, it is characterized in that, on housing, be provided with electric charge coupling CCD image pick-up device formula discriminating gear or special-purpose turbidity sensor formula discriminating gear, electric charge coupling CCD image pick-up device formula discriminating gear is located at the front end of housing, IMAQ card connection by combination cable and plug-assembly and industrial control computer, special-purpose turbidity sensor formula discriminating gear is located at the below of housing, the front end of water sucking mouth is connected with the multichannel A/D transition card of land industrial control computer by combination cable.

Described industrial control computer comprises man-machine interface, casing, three-axis stepping motor control card, multichannel A/D transition card, relay terminal plate, image pick-up card.The three-axis stepping motor control card is connected with composite stepper motor, multichannel A/D transition card is connected with infrared distance sensor, PT resistance pond water temperature sensor, pond water quality pH value sensor respectively, the relay terminal plate is connected with the brushless direct-current pump motor, and image pick-up card is connected with electric charge coupling CCD image pick-up device.

Advantage of the present invention is to have adopted intelligent self-adaptive technology in addition computer control and alternating current-direct current low-voltage driving, can select the corresponding cleaning dynamics according to the different distributions situation of dirt at the bottom of the pond, and the present invention is simple in structure, highly versatile, reliability height.

Description of drawings

Fig. 1 is the pond cleaner structure schematic diagram that possesses the dirt discriminating power that electric charge coupling CCD image pick-up device is housed;

Fig. 2 is the pond washer vertical view that possesses the dirt discriminating power;

Fig. 3 is the pond cleaner structure schematic diagram that possesses the dirt discriminating power that special-purpose turbidity sensor is housed;

Fig. 4 shows figure for the industrial control computer man-machine interface;

Fig. 5 is the industrial control computer structure chart;

Fig. 6 is pond washer and the industrial control computer connection side block diagram that possesses the dirt discriminating power;

Fig. 7 is the control software flow pattern;

Fig. 8 is special-purpose turbidity sensor structural representation;

Fig. 9 is special-purpose turbidity sensor test philosophy figure;

Figure 10 is the multilevel signal amplification circuit diagram;

Figure 11 is the method flow diagram that special-purpose turbidity sensor is differentiated dirt.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing and two embodiment.

Embodiment 1:

With the pond washer that possesses the dirt discriminating power that electric charge coupling CCD image pick-up device is housed is example.

The present invention adopts electric charge coupling CCD image pick-up device in the washer course of work, the CCD image pick-up device that is contained in the washer front end constantly absorbs the creep image at position to be cleaned, the positive front lower place of direction of washer, and it is formed the tonal gradation that can reach 256 rank at most by image pick-up card conversion and constantly compare with standard picture information at the bottom of the pond of prior storage, go to control the speed that washer is creeped that drives through computer system processor at last, to reach the purpose that washer can apply different cleaning dynamics at the difference that dirt distributes.

As Fig. 1, shown in 2, for the pond cleaner structure schematic diagram that possesses the dirt discriminating power of electric charge coupling CCD image pick-up device is housed, by performance element and land control module are formed under water, performance element comprises by motorseal formula case 1 under water, brushless direct-current pump motor 2,infrared distance sensor 3, housing 4, electric charge coupling CCD image pick-up device 5, water circulation outlet andfilter bag 6, pond water temperature sensor 8, pond water quality pH value sensor 9, crawler type climbing mechanism 10, round brush 11 and composite stepper motor 15 are formed, motorseal formula case 1 covers on the brushless direct-current pump motor 2, motorseal formula case 1 both sides are equipped with a composite stepper motor 15 respectively,infrared distance sensor 3 is equipped with in the front side of housing 4, electric charge coupling CCD image pick-up device 5 is equipped with in the preceding upper end of housing 4, PT resistance pond water temperature sensor 8 and pond water quality pH value sensor 9 be contained in housing 4 below, be connected with water circulation outlet andfilter bag 6 above, crawler type climbing mechanism 10 is contained in the front and back end of housing 4, round brush 11 is loaded onto in both sides,combination cable 12 by plug-assembly 14 be connected in housing 4 in the middle of.The land control module is theindustrial control computer 7 of configuration software,industrial control computer 7 comprises between three-axis steppingmotor control card 18 in man-machine interface 16, thecasing 17, multichannel A/D transition card 19,relay terminal plate 20, the image pick-up card Unit 21, two and connecting bycombination cable 12, plug-assembly 14.

As shown in Figure 4, for the industrial control computer man-machine interface shows figure, the area that shows pond to be cleaned in the middle of the panel figure, the area that light blue expression has been cleaned, navy blue is represented also unwashed area, the situation of the washer work that can come into plain view, and the left side of panel figure is provided with automatically and hand switch, the right side is provided with beginning, stops and continues switch, can show water temperature, the time of having cleaned and pond water ph value above.

As shown in Figure 5, be the industrial control computer structure chart, by man-machine interface 16,casing 17, three-axis steppingmotor control card 18, multichannel A/D transition card 19,relay terminal plate 20, image pick-up card 21 is formed.

As shown in Figure 6, be pond washer and the industrial control computer connection side block diagram that possesses the dirt discriminating power, three-axis steppingmotor control card 18 is connected with composite stepper motor 15, multichannel A/D transition card 19 is connected with pond water quality pH value sensor 9 withinfrared distance sensor 3, PT resistance pond water temperature sensor 8 respectively,relay terminal plate 20 is connected with brushless direct-current pump motor 2, and image pick-up card 21 is connected with electric charge coupling CCD image pick-up device 5.

During washing and cleaning operation, place the electric charge coupling CCD image pick-updevice 5 of washer front end to select earlier that the image of cleaning face is stored inindustrial control computer 7 as the primary standard image at the bottom of the ponds, 5 picked-ups of electric charge coupling CCD image pick-up device are positioned at the creep image at position to be cleaned, the positive front lower place of direction of washer during washing and cleaning operation, this vision signal is implemented the A/D conversion by high speed image acquisition board 21, cooperate corresponding image processing software and primary standard image at the bottom of the pond that is stored inindustrial control computer 7 to compare, sediment at the bottom of the pond for a long time, the image gray-scale level grade of real time shooting and the greyscale level of primary standard image differ greatly, Shu Chu voltage height relatively, otherwise the voltage of output is low.This voltage signal is sent in theindustrial control computer 7 and is handled by related software, the pulse signal instruction of handling back output goes to control the driving of two composite stepper motors 15 about washer respectively throughrelay terminal plate 20, the speed of washer creep speed has reflected the size of the dynamics of cleaning indirectly, cooperateinfrared distance sensor 3 simultaneously, can realize washer advance, retreat or about turn to.

Now selecting rectangle normal tour swimming pool is example, and the working method and the cleaning procedure of the pond washer that possesses the self adaptation cleansing power is described in conjunction with the control software flow pattern of Fig. 7.

The cleaning model of self adaptation cleansing power is selected in energising, washer is started working, at first carry out sump area and measure, sump area is S=a * b, and a is the length of rectangular pool, b is the wide of rectangular pool, measurement is finished, while PT resistance pond water temperature sensor 8 and pond water quality pH value sensor 9 measuring water temperature and pond water quality pH value, man-machine interface demonstration sump area mimic diagram and water temperature, pond water quality pH value, washer enters cleaning procedure

Electric charge coupling CCD image pick-updevice 5 when cleaning constantly picked-up be positioned at the creep image at position to be cleaned, the positive front lower place of direction of washer, after this vision signal is implemented A/D conversion andindustrial computer 7 and related software and is handled by high speed image acquisition board 21, remove to control the rotating speed of two composite stepper motors 15 about washer more respectively throughrelay terminal plate 20, clean the dirt distribution that promptly different cleaning dynamics is corresponding different to realize self adaptation.When washer is creeped near pool wall,infrared distance sensor 3 sends switching signal, realizes that with the different fit systems of left and right sides Athey wheel 180 ° are turned left or turn right, and oppositely clean again under the condition that satisfies the washer turning radius, the rest may be inferred, cleans up to whole pond to finish.

Continuous demonstration has been cleaned in the sump area mimic diagram area and scavenging period, cleaning area S '=0.6R ∫ θ dt, wherein R is the radius of driving pulley, θ is the step angle of stepper motor, when the sump area mimic diagram all becomes when light blue the washer end-of-job.

Embodiment 2:

With the pond washer that possesses the dirt discriminating power that special-purpose turbidity sensor is housed is example.

Present embodiment adopts special-purpose turbidity sensor, washer in operation process, the scouring of front end round brush and the water pump suction inlet suspension current that synergy is drawn to dirt are as differentiating object, the turbidity of the current water quality that instant detection washer forms under this state, utilize photronic light sensitivity principles, convert the turbidity of current to voltage signal, and deliver to computer control system and handle, remove to control the creep speed of washer, local washer in the water quality muddiness is creeped more slowly, reach dirt in various degree with this, apply the requirement of different cleaning dynamics.

Shown in Fig. 2,3, for the pond cleaner structure schematic diagram that possesses the dirt discriminating power of special-purpose turbidity sensor is housed, by performance element and land control module are formed under water.Performance element comprises motorseal formula case 1, brushless direct-current pump motor 2,infrared distance sensor 3, housing 4, water circulation outlet andfilter bag 6, PT resistance pond water temperature sensor 8, pond water quality pH value sensor 9, crawler type climbing mechanism 10, round brush 11, special-purpose turbidity sensor 13 and composite stepper motor 15 under water.The front end of water sucking mouth is equipped with special-purpose turbidity sensor 13 below brushless direct-current pump motor 2, is connected withindustrial control computer 7 bycable 12, plug-assembly 14, and the miscellaneous part annexation is constant.

As shown in Figure 8; be special-purpose turbidity sensor structural representation, special-purpose turbidity sensor 13 is made up of tungsten halogenlamp light source 22,combination housing 23,sealing ring 24,optical lens 25,protection window 26,current detection mouth 27,silicon photocell plate 28, multilevel signalmagnification circuit plate 29, cable 30.It is rectangular that the current at housing middle part detectmouth 27; the rectangle left-hand end is equipped withprotection window 26; press close to protectwindow 26 to be built-in withoptical lens 25 and tungsten halogenlamp light source 22;sealing ring 24 places the centre of tungsten halogenlamp light source 22 andoptical lens 25;silicon photocell plate 28, multilevel signalmagnification circuit plate 29 place current to detect the right-hand end ofmouth 27; be connected withcable 30 respectively by socket, this cable is incorporatedcombination cable 12 and plug-assembly 14 into and is connected with multichannel A/D transition card 19 in the control module.

Fig. 9 is special-purpose turbidity sensor test philosophy figure; the scattered light that tungsten halogenlamp light source 22 sends reflects into one group of collimated light beam throughoptical lens 25; this light beam sees throughprotection window 26 and detects mouthful 27silicon photocell plates 28 that face by current; the aqueous medium that the current of flowing through detect mouth then is detected object;silicon photocell plate 28 can be converted to current signal with optical signal; suspension in current for a long time; turbidity is big; arrive the photosignal weak strength ofsilicon photocell plate 28; the electric current of output is little; otherwise; the electric current of output is big, and current signal amplifies with the form of analog voltage signal through the adjustment of multilevel signalmagnification circuit plate 29 again exports and deliver toindustrial control computer 7 processing.

For all the flow through detection mouth of special-purpose turbidity sensor 13 of the current that guarantee the water pump suction inlet, special-purpose turbidity sensor 13 is installed in the front end of water pump suctioninlet.Protection window 26 adopts the high rigidity quartz glasss can resist in the current tiny sandstone the stability of luminous flux is kept in its wearing and tearing for a long time.

As shown in figure 10, be the multilevel signal amplification circuit diagram, described multilevel signalmagnification circuit plate 29 is made up of three amplifier U1-U3, six capacitor C 1-C6,17 resistance R, R0, R-R14 and RR1, Switching Power Supply ± 6V voltage is connected on the white electrode line and the black negative line two ends of special-purpose turbidity sensor 13, for tungsten halogenlamp light source 22 provides power supply, be connected with 5 pin with 1 pin of amplifier U1 respectively with the connection in series-parallel resistor network that resistance R 8, R10 and R11 form through adjustable resistance R9, be connected with 5 pin of U2 through R6 again, so that the negative polarity power supply of U1 and U2 to be provided.Green line is connected with 8 pin, 9 pin, 10 pin and 2 pin of amplifier U1, so that the positive polarity power supply of U1 to be provided.Purple line is connected through the series connection bleeder circuit of adjustable resistance R12, R13 and R14 composition and with 2 pin, 3 pin, 7 pin and 9 pin of amplifier U2, forms anti-phase differential ratio input and the negative feedback resistor network of U2 and also the output signal of 7 pin is delivered toindustrial control computer 7 processing.C1 is an isolation capacitance, and R1 is the negative feedback resistor of amplifier U1.C2 and R2 form the in-phase proportion input RC network of U1, and R and R3 are photronic split-stream sampling resistance, and yellow line is delivered toindustrial control computer 7 with photronic sampled signal and handled.R4, R5, RR1 form the differential ratio input resistance of the homophase network of amplifier U2, and after the R3 value was determined, adjusting RR1 can be the turbidity measurement category of special-purpose turbidity sensor 13 and demarcates, and C3 and R7 form the in-phase proportion input RC network of amplifier U3.Be connected a zero-regulator resistor R0 between green line and the yellow line, C4, C5, C6 are the filter capacitor of amplifier U1, U2, U3, purple line ground connection.7 lead-in wires of on the multilevel signalmagnification circuit plate 29 all are all incorporatedcombination cable 12 and plug-assembly 14 into throughcable 30 and are connected with multichannel A/D transition card 19 in the control module.

Figure 11 is the method flow diagram that special-purpose turbidity sensor is differentiated dirt, Switching Power Supply ± 6V voltage is connected on the white electrode line and the black negative line two ends of special-purpose turbidity sensor 13, make high-brightness halogentungsten light source 22 light, the light source that provides special-purpose turbidity sensor optical circuit to need.Light focuses on thesilicon photocell plate 28 throughoptical lens 25 refraction, andsilicon photocell plate 28 converts photosignal to the signal of telecommunication, gathers this signal of telecommunication by sample resistance R, and in signal amplification circuit, C1 is an isolation capacitance, and R1 is the negative feedback resistor of amplifier U1.C2 and R2 form the in-phase proportion input RC network of U1, and R, R3 are photronic shunt resistance.Signal is through after the amplification and the relatively amplification of U3 to signal of U1, U2, by the multichannel A/D transition card 19 of grey lines output signal toindustrial control computer 7, computer can reflect the different cleaning degree of water in the pond according to the signal power of special-purpose turbidity sensor 13, export the rotating speed that composite stepper motor 15 is regulated in corresponding pulse, thereby improve the operating efficiency of cleaning, the 22 outage expressions of tungsten halogen lamp light source are measured and are finished.

Before work, earlier the measurement category of special-purpose turbidity sensor 13 is demarcated, then according to the signal output area, go to control cleaning process again by the processing of computer software.

During cleaning, the dirt of cleaning through round brush mixes the suspension of forming and is subjected to the water pump effect must flow to the water pump suction inlet with water, the special-purpose turbidity sensor 13 that be installed in water pump suction inlet place this moment converts the different blended turbidity of current to changing voltage signal, after this voltage signal is changed screening through A/D transition card 19, delivering toindustrial control computer 7 is handled by related software, handle the pulse signal of back output or " opening; stop " instruction removes to control brushless direct-current pump motor 2 throughrelay terminal plate 20 driving, the turbidity height of current, the creep speed of washer is slack-off, cleaning puts more effort, otherwise then cleaning dynamics reduces, and cooperates infrared distance measurement to turn tophotoelectric sensor 3 can realize advancing of washer simultaneously, retreat or about turn to.

Selecting rectangle normal tour swimming pool is example, and the working method and the cleaning procedure of the pond washer that possesses the dirt discriminating power is described in conjunction with the control software flow pattern of Fig. 7.

Select automatic cleaning model, the washer energising is started working, at first carrying out sump area measures, sump area is S=a * b, a is the length of rectangular pool, b is the wide of rectangular pool, measurement is finished, while PT resistance pond water temperature sensor 8 and pond water quality pH value sensor 9 measuring water temperature and pond water quality pH value, man-machine interface shows sump area mimic diagram and water temperature, the pond water quality pH value, washer enters cleaning procedure, special-purpose turbidity sensor 13 constantly detects the water that is about to enter the water pump suction inlet, the variation of turbidity causes the voltage of special-purpose turbidity sensor 13 outputs to send out the dirt variation, this voltage signal is sent to A/D transition card 19 transcoding filters and becomes digital pulse signal, deliver to the rotating speed that removes to control brushless direct-current pump motor 2 after driver module amplifies throughrelay terminal plate 20 again, to reach different cleaning dynamics, when washer is creeped near pool wall,infrared distance sensor 3 sends switching signal, under the condition that satisfies the washer turning radius, realize that with the different fit systems of left and right sides Athey wheel 180 ° are turned left or turn right, oppositely clean again, the rest may be inferred, finish up to the cleaning of whole pond, continuous demonstration has been cleaned in the sump area mimic diagram area and scavenging period, cleaning area S '=0.6R ∫ θ dt, wherein R is the radius of driving pulley, θ is the step angle of stepper motor, when Simulated Water pool area figure all becomes when light blue the washer end-of-job.

Claims (4)

1. pond washer that possesses the dirt discriminating power, by performance element and land control module are formed under water, performance element comprises motor seal formula case (1) under water, brushless direct-current pump motor (2), infrared distance sensor (3), housing (4), water circulation outlet and filter bag (6), PT resistance pond water temperature sensor (8), pond water quality pH value sensor (9), crawler type climbing mechanism (10), round brush (11) and composite stepper motor (15), the land control module is the industrial control computer (7) of configuration software, pass through combination cable (12) between Unit two, plug-assembly (14) connects, it is characterized in that, on housing (4), be provided with electric charge coupling CCD image pick-up device (5) formula discriminating gear or special-purpose turbidity sensor (13) formula discriminating gear, electric charge coupling CCD image pick-up device (5) formula discriminating gear is located at the front end of housing (4), be connected with the image pick-up card (21) of industrial control computer (7) with plug-assembly (14) by combination cable (12), special-purpose turbidity sensor (13) formula discriminating gear is located at the below of housing (4), the front end of water sucking mouth is connected with the multichannel A/D transition card (19) of land industrial control computer (7) by combination cable (12).

2. the pond washer that possesses the dirt discriminating power according to claim 1, it is characterized in that, described industrial control computer (7) comprises man-machine interface (16), three-axis stepping motor control card (18) in the casing (17), multichannel A/D transition card (19), relay terminal plate (20), image pick-up card (21), three-axis stepping motor control card (18) is connected with composite stepper motor (15), multichannel A/D transition card (19) respectively with infrared distance sensor (3), PT resistance pond water temperature sensor (8), pond water quality pH value sensor (9) connects, relay terminal plate (20) is connected with brushless direct-current pump motor (2), and image pick-up card (21) is connected with electric charge coupling CCD image pick-up device (5).

3. the pond washer that possesses the dirt discriminating power according to claim 1; it is characterized in that; described special-purpose turbidity sensor (13) is by tungsten halogen lamp light source (22); combination housing (23); sealing ring (24); optical lens (25); protection window (26); current detect mouthful (27); silicon photocell plate (28); multilevel signal magnification circuit plate (29); cable (30) is formed; it is rectangular that the current at housing middle part detect mouthful (27); the rectangle left-hand end is equipped with protection window (26); press close to protect window (26) to be built-in with optical lens (25) and tungsten halogen lamp light source (22); sealing ring (24) places the centre of tungsten halogen lamp light source (22) and optical lens (25); silicon photocell plate (28); multilevel signal magnification circuit plate (29) places current to detect the right-hand end of mouthful (27); be connected with cable (30) respectively by socket, cable (30) is incorporated combination cable (12) and plug-assembly (14) into and is connected with multichannel A/D transition card (19) in the control module.

4. the pond washer that possesses the dirt discriminating power according to claim 3, it is characterized in that, described multilevel signal magnification circuit plate (29) is by three amplifier U1-U3, six capacitor C 1-C6,17 resistance R, R0, R1-R14 and RR1 form, Switching Power Supply ± 6V voltage is connected on the white electrode line and the black negative line two ends of special-purpose turbidity sensor (13), for tungsten halogen lamp light source (22) provides power supply, through adjustable resistance R9 and resistance R 8, R10 is connected with 5 pin with 1 pin of amplifier U1 respectively with the connection in series-parallel resistor network that R11 forms, be connected with 5 pin of U2 through R6 again, so that the negative polarity power supply of U1 and U2 to be provided, 8 pin of green line and amplifier U1,9 pin, 10 pin are connected with 2 pin, so that the positive polarity power supply of U1 to be provided, purple line is through adjustable resistance R12, the series connection bleeder circuit that R13 and R14 form and with 2 pin of amplifier U2,3 pin, 7 pin are connected with 9 pin, the anti-phase differential ratio input of composition U2 and negative feedback resistor network are also delivered to industrial control computer (7) with the output signal of 7 pin and are handled, C1 is an isolation capacitance, R1 is the negative feedback resistor of amplifier U1, C2 and R2 form the in-phase proportion input RC network of U1, R and R3 are photronic split-stream sampling resistance, yellow line is delivered to industrial control computer (7) with photronic sampled signal and is handled, be connected a zero-regulator resistor R0 between green line and the yellow line, R4, R5, RR1 forms the differential ratio input resistance of the homophase network of amplifier U2, after the R3 value is determined, adjusting RR1 can be the turbidity measurement category of special-purpose turbidity sensor (13) and demarcates, C3 and R7 form the in-phase proportion input RC network of amplifier U3, C4, C5, C6 is amplifier U1, U2, the filter capacitor of U3, purple line ground connection, 7 lead-in wires of all on the multilevel signal magnification circuit plate (29) are all passed through cable (30) and are incorporated combination cable (12) and plug-assembly (14) into and be connected with multichannel A/D transition card (19) in the industrial control computer (7).

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