CN108324196B

CN108324196B - Working method of sweeping robot

Info

Publication number: CN108324196B
Application number: CN201810087307.8A
Authority: CN
Inventors: 宫亚梅
Original assignee: Changzhou College of Information Technology CCIT
Current assignee: Changzhou College of Information Technology CCIT
Priority date: 2016-03-01
Filing date: 2016-03-01
Publication date: 2020-10-13
Anticipated expiration: 2036-03-01
Also published as: CN105662284B; CN108324196A; CN105662284A

Abstract

The invention discloses a working method of a sweeping robot, which comprises a body with an oval bottom surface, wherein the body comprises a walking driving mechanism, a brush disc, a direction control mechanism, a roller type brush mechanism, a drying air outlet, an air humidifying unit, a cleaning liquid manufacturing unit, a control unit and a wireless transmission unit, the direction control mechanism, the brush disc, the drying air outlet, the roller type brush mechanism and the walking mechanism are sequentially arranged at the bottom of the body along the long axis direction, the air humidifying unit, the cleaning liquid manufacturing unit and the control unit are arranged on the body, and the wireless transmission unit and a user mobile terminal establish input and output of signals. The floor sweeping robot is further optimized on the basis of the existing floor sweeping robot, so that the floor sweeping robot has more excellent functions and reliability and more complete household functions.

Description

Working method of sweeping robot

Technical Field

The invention belongs to the technical field of sweeping robots.

Background

The sweeping robot is firstly sold in the markets of Europe and America, and gradually enters China along with the improvement of the domestic living standard.

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.

The machine body of the sweeping machine is a wireless machine, and mainly takes a disc type as a main machine. The rechargeable battery is used for operation, and the operation mode is a remote controller or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The sensor is arranged in front of the device, can detect obstacles, can automatically turn when touching a wall or other obstacles, and can walk different routes according to different manufacturers so as to plan cleaning areas. Because of its simple operation and convenience, it is becoming a common household appliance for office workers and modern families.

The robotics is becoming more mature nowadays, so each brand has different research and development directions and has special designs, such as double dust absorption covers, hand-held dust collectors, dust collection boxes with washing and mopping functions, aromatic agents releasing or photocatalyst sterilization functions.

The fuselage is the mobile device of automation technology, and the vacuum cleaner who has the dust collection box cooperates the fuselage to set for control path, walks repeatedly indoor, if: the cleaning machine can clean along paths of edge cleaning, centralized cleaning, random cleaning, linear cleaning and the like, and is assisted by modes of edge brushes, central main brushes, cleaning cloth and the like, so that the cleaning effect is enhanced, and the humanized household cleaning effect is achieved.

The invention provides a technical improvement for the defects or the places which are not reached of the existing sweeping robot, so that the sweeping robot has more excellent performance and more complete functions.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the working method of the sweeping robot, so that the function and the reliability of the sweeping robot are more excellent, and the household function is more complete.

The technical scheme is as follows: in order to achieve the purpose, the technical scheme of the invention is as follows:

the working method of the sweeping robot comprises the following steps:

comprises two brush discs which are symmetrically arranged, a left brush disc and a right brush disc; and two symmetrically arranged direction control mechanisms, namely a left side direction control mechanism and a right side direction control mechanism.

The walking driving mechanism drives the body to move straight, the two brush discs rotate oppositely or reversely, the cleaning liquid nozzle sprays cleaning liquid foam, the ground is cleaned through the bristles of the two brush discs, sewage is sucked through the multi-circle circular brush looped pile and the dust suction port, the sewage remained on the ground is wiped clean under the rotation of the roller type brush mechanism, and finally the ground is dried through drying hot air in the drying air outlet;

when the detected bearing capacity is gradually reduced under the coordination of the spring resetting device of any one bearing sensing device in the left side direction control mechanism or the right side direction control mechanism, the walking driving mechanism decelerates;

if the bearing sensing device in the left side direction control mechanism cannot detect the bearing force at first, the walking driving mechanism stops driving, the steering driving devices of the left side direction control mechanism and the right side direction control mechanism rotate rightwards at the same time, and the left side brush disc and the right side brush disc rotate rightwards at the same time in an assisting manner; until the bearing capacity of the bearing sensing device in the left direction control mechanism is detected again, the driving of the walking driving mechanism is gradually increased from small to large;

if the bearing sensing device in the right side direction control mechanism cannot detect the bearing force at first, the walking driving mechanism stops driving again, the steering driving devices of the left side direction control mechanism and the right side direction control mechanism rotate rightwards at the same time, and the left side brush disc and the right side brush disc rotate and steer rightwards at the same time in an assisting manner; until the bearing capacity of the bearing sensing device in the right direction control mechanism is detected again, the driving of the walking driving mechanism is gradually increased from small to large;

if the bearing sensing device in the left direction control mechanism and the bearing sensing device in the right direction control mechanism cannot detect the bearing force at the same time, after the traveling driving mechanism and the roller type brush mechanism rotate in opposite directions and travel for a set displacement, the steering driving devices of the left direction control mechanism and the right direction control mechanism rotate in the left direction or the right direction at the same time by 90-180 degrees, and the left brush disc and the right brush disc rotate in the left direction or the right direction at the same time by 90-180 degrees in an assisted manner;

if the displacement detection unit and the clock unit detect that the displacement is lower than the set minimum value within the set time, after the traveling driving mechanism and the roller type brush mechanism reversely rotate and travel for the set displacement, the steering driving devices of the left side direction control mechanism and the right side direction control mechanism simultaneously rotate for 90-180 degrees in the left direction or the right direction, and the left side brush disc and the right side brush disc simultaneously rotate for 90-180 degrees in the left direction or the right direction in an assisting manner.

The floor sweeping robot comprises an oval body with the bottom surface, wherein the body comprises a walking driving mechanism, a brush disc, a direction control mechanism, a roller type brush mechanism, a drying air outlet, an air humidifying unit, a cleaning liquid manufacturing unit, a control unit and a wireless transmission unit, the direction control mechanism, the brush disc, the drying air outlet, the roller type brush mechanism and the walking mechanism are sequentially arranged at the bottom of the body along the long axis direction, the air humidifying unit, the cleaning liquid manufacturing unit and the control unit are arranged on the body, and the wireless transmission unit and a user mobile terminal establish input and output of signals.

The invention is further improved on the basis that two direction control mechanisms are arranged symmetrically relative to the long shaft, each direction control mechanism comprises a steering driving device, a bearing sensing device and a small walking wheel, the small walking wheels support the steering driving devices to walk on the ground, and the bearing force borne by the small walking wheels is detected in real time under the cooperation of the spring resetting devices through the bearing sensing devices.

According to a further improvement of the invention, the number of the brush discs is one or two, the bottom surface of each brush disc is circular, a dust suction opening is formed in the circle center of each brush disc, a plurality of circles of circular brush looped piles are arranged around the dust suction opening from inside to outside, each brush looped pile is formed by a plurality of circular arc-shaped brush hairs which are symmetrical in pairs and surround a circle, and the distribution density of the brush hairs at the position of an inner circle is smaller than that of the brush hairs at the position of an outer circle; a cleaning liquid nozzle is arranged at the position corresponding to the circle center of each bristle; when the number of the brush discs is two, the two brush discs are symmetrically arranged relative to the long shaft brush disc.

The roller brush mechanism comprises a brush body, a roller, a frame-shaped dust collection port, an axial extrusion mechanism, a suspension mechanism and a driving motor, wherein the roller is connected with the driving motor and arranged at the frame-shaped dust collection port; in the long axis direction, the gap between the rolling shaft and the frame-shaped dust collection port close to one side of the direction control mechanism is smaller than the gap between the rolling shaft and the frame-shaped dust collection port close to one side of the traveling driving mechanism; the brush body is of a hollow cylindrical structure, and a plurality of wrinkle gaps are arranged on the outer wall of the brush body in a rotating mode along the axis direction of the flood dragon; the brush body is sleeved on the outer wall of the rolling shaft, the axial extrusion mechanisms are respectively fixed at two ends of the rolling shaft and are in close contact with two ends of the brush body, and the suspension mechanism is connected with the axial extrusion mechanism; the body is internally provided with a dirty water storage box corresponding to the size of the brush body at a stopping point corresponding to the suspension position of the suspension mechanism.

The air humidifying unit comprises a liquid storage device, an air inlet adjusting valve, an air inlet pump, a self-priming water pump, a high-pressure tank, a gas-liquid mixing tank, an air outlet one-way pressure valve, a micron bubble water outlet pump and a humidifying spray head, wherein the self-priming water pump is connected with the liquid storage device and is connected with the gas-liquid mixing tank; the air inlet regulating valve is connected with an air inlet pump, and the air inlet pump is connected with a gas-liquid mixing tank; the gas-liquid mixing tank is connected with a high-pressure tank, one end of an outlet of the high-pressure tank is connected with the gas outlet one-way pressure valve, and the other end of the outlet of the high-pressure tank is connected with the micron bubble water outlet pump; the air outlet one-way pressure valve is divided into two paths for connection, one path is connected with the humidifying sprayer, and the other path is connected with the drying air outlet through the drying device.

According to the invention, a further improvement is provided on the basis of the invention, the outer wall of the high-pressure tank is provided with a vacuum insulation layer, a thin plate is embedded in the high-pressure tank, the lower part of the thin plate is hermetically connected with the high-pressure tank, and the left part and the right part of the high-pressure tank, which are communicated only at the upper part, are separated; the gas-liquid mixture firstly enters the left water inlet part until the gas-liquid mixture is submerged at the upper end of the embedded thin plate and then overflows into the right part; one end in the export of high-pressure tank sets up at the high-pressure tank top, the other end in the export of high-pressure tank sets up the right side lower extreme at the high-pressure tank.

The invention is further improved on the basis that the micron bubble water outlet pump is connected with the cleaning liquid manufacturing unit; the cleaning solution manufacturing unit comprises a cleaning solution foaming agent storage tank and a foam generating device; the micron bubble water outlet pump and the cleaning solution foaming agent storage tank are respectively connected with a foam generating device, and the foam generating device is connected with a plurality of cleaning solution nozzles; a mixing chamber and a foaming chamber are arranged in the foam generating device, the mixing chamber is provided with a spiral stirrer, the foaming chamber is of a multi-layer mutual conduction structure, and gaps of each layer of structure are sequentially reduced from bottom to top; each layer of structure is provided with a plurality of baffles which are arranged obliquely and vertically at intervals; the micron bubble mixed liquid and the cleaning liquid foaming agent enter the mixing chamber to be stirred and mixed, and are respectively connected with a plurality of cleaning liquid nozzles through outlets at the top of the foaming chamber after the mixing chamber is filled with the micro bubble mixed liquid and the cleaning liquid foaming agent and the whole foaming chamber is gradually overflowed from bottom to top.

The solar energy mobile phone further comprises a displacement detection unit, a clock unit, a charging device and a solar cell panel unit, wherein the solar cell panel unit is arranged on the upper surface of the body, and the charging device is arranged in an illumination area. The system also comprises a camera unit, wherein the camera unit is respectively connected with the charging device and the solar cell panel unit in a power supply manner, and the signal output end of the camera unit is connected with the signal input end of the user mobile terminal through the wireless transmission unit; the camera shooting unit is arranged on the humidifying spray head. The concealed setting of camera unit is on the humidification shower nozzle, when the housekeeper charges, can regard as directional camera control, when housekeeper's cleaning work, can pretend to become in the mobile camera monitor, effectively avoids burglary person's taking precautions against to a certain extent.

Has the advantages that: the floor sweeping robot is further optimized on the basis of the existing floor sweeping robot, so that the floor sweeping robot has more excellent functions and reliability and more complete household functions.

Drawings

FIG. 1 is a schematic bottom structure of the present invention;

FIG. 2 is a schematic structural view of a direction control mechanism according to the present invention;

FIG. 3 is a schematic structural view of a brush plate according to the present invention;

FIG. 4 is a first schematic structural view of the roller brush mechanism of the present invention;

FIG. 5 is a second schematic structural view of the roller brush mechanism of the present invention;

FIG. 6 is a schematic diagram of an air humidification unit according to the present invention;

FIG. 7 is a schematic diagram of the construction of a high pressure tank of the present invention;

FIG. 8 is a schematic structural view of a foam generating apparatus according to the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in the attached drawing 1, the floor sweeping robot comprises a body with an oval bottom surface, wherein the body comprises a traveling driving mechanism 2, a brush disc 3, a direction control mechanism 4, a roller type brush mechanism 5, a drying air outlet 6, an air humidifying unit 7, a cleaning liquid manufacturing unit 8, a control unit 9 and a wireless transmission unit 10, the direction control mechanism 4, the brush disc 3, the drying air outlet 6, the roller type brush mechanism 5 and the traveling mechanism 2 are sequentially arranged at the bottom of the body along the long axis direction, the air humidifying unit 7, the cleaning liquid manufacturing unit 8 and the control unit 9 are arranged on the body, and the wireless transmission unit 10 and a user mobile terminal establish input and output of signals. The invention adopts the oval body, so that the housekeeper can pass through a narrow and long area, and the cleaning area of the housekeeper is increased.

As shown in fig. 2, the number of the direction control mechanisms 4 is two, and the two direction control mechanisms are respectively and symmetrically arranged relative to the long axis, each direction control mechanism 4 comprises a steering driving device 41, a bearing sensing device 42 and a small walking wheel 43, the small walking wheel 43 supports the steering driving device 41 to walk on the ground, and the bearing sensing device 42 is matched with a spring return device to detect the bearing capacity borne by the small walking wheel 43 in real time. Can prevent falling the performance excellence reliably through bearing induction system 42 mechanical type response slope.

As shown in fig. 3, the number of the brush discs 3 is one or two, the bottom surface of the brush disc 3 is circular, a dust suction port 31 is arranged at the center of the brush disc 3, a plurality of circles of circular brush ring loops are arranged around the dust suction port 31 from inside to outside, each brush ring loop is formed by a plurality of circular arc-shaped brush hairs 33 which are symmetrical in pairs and enclose a circle, and the distribution density of the brush hairs 33 arranged at the inner circle position is less than that of the brush hairs 33 arranged at the outer circle position; a cleaning liquid nozzle 34 is arranged at the position corresponding to the circle center of each brush 33; when the number of the brush discs 3 is one, the dust suction port 31 of the brush disc 3 is positioned on the long shaft, and when the number of the brush discs 3 is two, the two are symmetrically arranged relative to the long shaft brush disc 3. Due to the ingenious design of the bristles 33, the cleaning liquid nozzle 34 and the dust suction port 31, dust or sundries can be cleaned to the greatest extent, and the cleaning capability is greatly improved; in addition, the shape design of the brush hair in the brush disc 3 prevents slipping by utilizing the special shape structure of the brush hair when the brush hair is matched with the steering of a housekeeper, and the steering execution capacity of the housekeeper is enhanced.

As shown in fig. 4 and 5, the roller brush mechanism 5 includes a brush body 51, a roller 52, a frame-shaped dust suction opening 53, an axial pressing mechanism 54, a suspension mechanism 55 and a driving motor 56, wherein the roller 52 is connected with the driving motor 56 and is disposed at the frame-shaped dust suction opening 53; in the long axis direction, the gap between the roller 52 and the frame-shaped dust collection opening 53 close to the direction control mechanism 4 is smaller than the gap between the roller and the frame-shaped dust collection opening close to the traveling drive mechanism 2, so that the dust collection effect is better; the brush body 51 is of a hollow cylindrical structure, and a plurality of wrinkle gaps are arranged on the outer wall of the brush body 51 in a rotating mode along the axial direction, so that the compression ratio is larger during extrusion and compression, and the dryness of the brush body 51 is ensured to the maximum extent; the brush body 51 is sleeved on the outer wall of the roller 52, the axial squeezing mechanisms 54 are respectively fixed at two ends of the roller 52 and are in close contact with two ends of the brush body 51, and the suspension mechanism 55 is connected with the axial squeezing mechanisms 54; a dirty water storage box corresponding to the size of the brush body 51 is arranged at the stop point of the suspension position of the suspension mechanism 55 in the body.

As shown in fig. 6, the air humidification unit 7 includes a liquid storage device 71, an air inlet regulating valve 72, an air inlet pump 73, a self-priming water pump 74, a high-pressure tank 75, a gas-liquid mixing tank 76, an air outlet one-way pressure valve 77, a micron bubble water outlet pump 78 and a humidification spray head 79, the self-priming water pump 74 is connected with the liquid storage device 71, and the self-priming water pump 74 is connected with the gas-liquid mixing tank 76; the air inlet regulating valve 72 is connected with an air inlet pump 73, and the air inlet pump 73 is connected with a gas-liquid mixing tank 76; the gas-liquid mixing tank 76 is connected with a high-pressure tank 75, one end of the outlet of the high-pressure tank 75 is connected with a gas outlet one-way pressure valve 77, and the other end of the outlet of the high-pressure tank 75 is connected with a micron bubble outlet water pump 78; the air outlet one-way pressure valve (77) is divided into two paths for connection, one path is connected with the humidifying spray head 79, and the other path is connected with the drying air outlet (6) through the drying device. The humidifying mist from the air humidifying unit 7 contains micron-sized bubbles, so that the oxygen content of the air is improved when the air humidity is increased, and the human body immunity is benefited.

As shown in fig. 7, a vacuum insulation layer is arranged on the outer wall of the high-pressure tank 75, a thin plate 751 is embedded in the high-pressure tank 75, the lower part of the thin plate 751 is hermetically connected with the high-pressure tank 75, and the left part and the right part of the high-pressure tank 75 which are communicated only at the upper part are separated; the gas-liquid mixture firstly enters the left water inlet part until the gas-liquid mixture passes through the upper ends of the embedded thin plates 751 and then overflows into the right part; one end of the outlets of the high-pressure tank 75 is disposed at the top of the high-pressure tank 75, and the other end of the outlets of the high-pressure tank 75 is disposed at the lower right end of the high-pressure tank 75. The high pressure tank 75 is constructed such that the amount of micro-bubbles contained in the water is significantly increased.

The micron bubble water outlet pump 78 is connected with the cleaning liquid manufacturing unit 8; the cleaning solution preparation unit 8 comprises a cleaning solution foaming agent storage tank and a foam generation device; the micron bubble water outlet pump 78 and the cleaning solution foaming agent storage tank are connected with a foam generating device respectively, and the foam generating device is connected with a plurality of cleaning solution nozzles 34. As shown in fig. 8, a mixing chamber and a foaming chamber are arranged in the foam generating device, the mixing chamber is provided with a spiral stirrer, the foaming chamber is of a multi-layer mutual conduction structure, and the gap of each layer of structure is sequentially reduced from bottom to top; each layer of structure is provided with a plurality of baffles which are arranged obliquely and vertically at intervals; the micron bubble mixed liquid and the cleaning liquid foaming agent enter the mixing chamber to be stirred and mixed, and are respectively connected with a plurality of cleaning liquid nozzles 34 through outlets at the top of the foaming chamber after the mixing chamber is fully stored and then the whole foaming chamber is gradually overflowed from bottom to top. The cleaning liquid is formed by using water with micron bubbles as a main body of the cleaning liquid, and when the micron bubbles are contacted with dirt, the dirt removing capacity is greatly improved.

Still include displacement detecting element, clock unit, charging device and solar cell panel unit, the solar cell panel unit sets up at the body upper surface, charging device sets up in the illumination region, through displacement detecting element and clock unit's accounting, can guarantee that the housekeeper when the electric quantity is not enough, in time goes to the charging area and charges, and the charging area sets up under the sunshine, the ingenious energy that utilizes solar energy. On the basis, the solar mobile terminal further comprises a camera unit, the camera unit is respectively connected with the charging device and the solar cell panel unit in a power supply mode, and the signal output end of the camera unit is connected with the user mobile terminal in a signal input mode through the wireless transmission unit 10. The camera unit is arranged on the humidifying nozzle 79 in a concealed mode and can be used as a directional camera for monitoring when a housekeeper charges; when the housekeeper works cleanly, the mobile camera can be disguised as a monitoring room of the mobile camera, and the burglary prevention of a room thief can be effectively avoided to a certain extent.

The working method of the sweeping robot comprises two brush discs 3 which are symmetrically arranged, a left brush disc and a right brush disc; and two symmetrically arranged direction control mechanisms 4, a left side direction control mechanism and a right side direction control mechanism. The working method comprises the following steps:

the walking driving mechanism 2 drives the body to move straight, the two brush discs 3 rotate oppositely or reversely, cleaning liquid foam is sprayed out of the cleaning liquid nozzle 34, the ground is cleaned through the bristles 33 of the two brush discs 3, sewage and dirt are sucked through the multi-circle circular brush looped pile and the dust suction port 31, the sewage remained on the ground is wiped clean under the rotation of the roller type brush mechanism 5, and finally the ground is dried through the dry hot air in the drying air outlet 6;

when any one of the load-bearing sensing devices 42 in the left side direction control mechanism or the right side direction control mechanism is matched with the spring return device, the detected bearing capacity is gradually reduced, and the walking driving mechanism 2 decelerates;

if the bearing sensing device 42 in the left direction control mechanism cannot detect the bearing force at first, the walking driving mechanism 2 stops driving, the steering driving devices 41 of the left direction control mechanism and the right direction control mechanism rotate in the right direction at the same time, and the left brush disc and the right brush disc rotate in the right direction at the same time in an assisted manner; until the bearing capacity of the bearing sensing device 42 in the left direction control mechanism is detected again, the driving of the walking driving mechanism 2 is gradually increased from small to large;

if the bearing sensing device 42 of the right direction control mechanism cannot detect the bearing capacity at first, the walking driving mechanism 2 stops driving again, the steering driving devices 41 of the left direction control mechanism and the right direction control mechanism rotate in the left direction at the same time, and the left brush disc and the right brush disc rotate in the left direction at the same time in an assisting manner; until the bearing capacity of the bearing sensing device 42 in the right direction control mechanism is detected again, the driving of the walking driving mechanism 2 is gradually increased from small to large;

if the bearing sensing device 42 in the left direction control mechanism and the bearing sensing device 42 in the right direction control mechanism cannot detect the bearing capacity at the same time, after the traveling driving mechanism 2 and the roller type brush mechanism 5 rotate in opposite directions and travel for a set displacement, the steering driving devices 41 of the left direction control mechanism and the right direction control mechanism rotate in the left direction or the right direction by 90-180 degrees at the same time, and the left brush disc and the right brush disc rotate in the left direction or the right direction by 90-180 degrees at the same time in an assisted manner;

if the displacement detecting unit and the clock unit detect that the displacement is lower than the set minimum value within the set time, after the traveling driving mechanism 2 and the roller type brush mechanism 5 rotate reversely to travel for the set displacement, the steering driving devices 41 of the left side direction control mechanism and the right side direction control mechanism rotate 90-180 degrees leftwards or rightwards simultaneously, and the left side brush disc and the right side brush disc rotate 90-180 degrees leftwards or rightwards in an assisted rotation manner simultaneously.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. The working method of the sweeping robot comprises two brush discs (3) which are symmetrically arranged, a left brush disc and a right brush disc; and direction control mechanism (4), left side direction control mechanism and right side direction control mechanism that two symmetries set up, its characterized in that:

the direction control mechanisms (4) are respectively and symmetrically arranged relative to the long shaft, each direction control mechanism (4) comprises a steering driving device (41), a bearing sensing device (42) and a small walking wheel (43), the small walking wheels (43) support the steering driving devices (41) to walk on the ground, and the bearing sensing devices (42) are matched with the spring resetting devices to detect the bearing capacity borne by the small walking wheels (43) in real time;

the bottom surface of the brush disc (3) is circular, a dust suction opening (31) is formed in the circle center of the brush disc (3), a plurality of circles of circular brush pile loops are arranged around the dust suction opening (31) from inside to outside, each circle of brush pile loop is formed by a plurality of arc-shaped brush hairs (33) which are pairwise symmetrical and enclose a circle, and the distribution density of the brush hairs (33) arranged at the inner circle position is smaller than that of the brush hairs (33) arranged at the outer circle position; a cleaning liquid nozzle (34) is arranged at the position corresponding to the circle center of each brush hair (33); the number of the brush discs (3) is two, and the two brush discs are symmetrically arranged relative to the long-axis brush disc (3);

the walking driving mechanism (2) drives the body to move straight, the two brush discs (3) rotate oppositely or reversely, a cleaning liquid nozzle (34) sprays cleaning liquid foam, the ground is cleaned through the bristles (33) of the two brush discs (3), sewage is sucked through the multi-circle circular brush looped pile and the dust suction port (31), the sewage remained on the ground is wiped clean under the rotation of the roller type brush mechanism (5), and finally the ground is dried through dry hot air in the drying air outlet (6);

when any one bearing sensing device (42) of the left side direction control mechanism or the right side direction control mechanism is matched with the spring return device, the detected bearing force is gradually reduced, and the walking driving mechanism (2) decelerates;

if the bearing sensing device (42) in the left direction control mechanism cannot detect the bearing capacity at first, the walking driving mechanism (2) stops driving, the steering driving devices (41) of the left direction control mechanism and the right direction control mechanism rotate in the right direction at the same time, and the left brush disc and the right brush disc rotate in the right direction at the same time in an assisted manner; until the bearing capacity of the bearing sensing device (42) in the left direction control mechanism is detected again, the driving of the walking driving mechanism (2) is gradually increased from small to large;

if the bearing sensing device (42) in the right direction control mechanism cannot detect the bearing capacity at first, the walking driving mechanism (2) stops driving again, the steering driving devices (41) of the left direction control mechanism and the right direction control mechanism rotate in the left direction at the same time, and the left brush disc and the right brush disc rotate in the left direction at the same time in an assisting manner; until the bearing capacity of the bearing sensing device (42) in the right direction control mechanism is detected again, the driving of the walking driving mechanism (2) is gradually increased from small to large;

if the bearing sensing device (42) in the left direction control mechanism and the bearing sensing device (42) in the right direction control mechanism cannot detect the bearing capacity simultaneously, after the walking driving mechanism (2) and the roller type brush mechanism (5) rotate reversely and walk for a set position, the steering driving devices (41) of the left direction control mechanism and the right direction control mechanism rotate 90-180 degrees leftwards or rightwards simultaneously, and the left brush disc and the right brush disc rotate 90-180 degrees leftwards or rightwards in an assisted manner simultaneously;

if the displacement detection unit and the clock unit detect that the displacement is lower than the set minimum value within the set time, after the traveling driving mechanism (2) and the roller type brush mechanism (5) rotate reversely to travel at the set position, the steering driving devices (41) of the left side direction control mechanism and the right side direction control mechanism rotate 90-180 degrees leftwards or rightwards simultaneously, and the left side brush disc and the right side brush disc rotate 90-180 degrees leftwards or rightwards in an assisted rotation manner simultaneously.