CN109965796A - A kind of clean robot automatic water changer and system - Google Patents
A kind of clean robot automatic water changer and system Download PDFInfo
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- CN109965796A CN109965796A CN201711455746.1A CN201711455746A CN109965796A CN 109965796 A CN109965796 A CN 109965796A CN 201711455746 A CN201711455746 A CN 201711455746A CN 109965796 A CN109965796 A CN 109965796A
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- water
- water tank
- control unit
- clean robot
- outlet pipe
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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
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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
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
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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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/026—Refilling cleaning liquid containers
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The present invention provides a kind of clean robot automatic water changer and system, the automatic water changer includes first control unit, elevating mechanism, water tank, sewage pump, water outlet pump, dirt sucking tube and outlet pipe；The clean robot includes the second control unit, ontology, water tank, walking unit, power unit.In use, when clean robot needs to change water, it can be moved to by walking unit and change water area, and rear lifting mechanism by dirt sucking tube and outlet pipe insertion water tank liquid level hereinafter, and start sewage pump by water tank sewage extract out, then restarting water outlet pump is delivered to water purification in water tank, to realize the automatic water-replacing of clean robot water tank, it effectively increases and changes water efficiency, saved human cost, improve user experience.
Description
Technical field
The present invention relates to robot automation's application field more particularly to a kind of clean robot automatic water changer and it is
System.
Background technique
With the development of science and technology and social progress, people's lives become more and more convenient.In cleaning applications, cleaner
Device people is widely applied.Clean robot usually has one for storing the water tank of clear water, to as clean robot
Water source when being cleaned to ground.However, the water conservancy project of changing of clean robot water tank still needs to manually participate at present, and it is time-consuming and laborious, it gives
User brings undesirable sensory experience.
Summary of the invention
For this reason, it may be necessary to a kind of clean robot automatic water changer and system be provided, to solve existing cleaning machine
The problems such as inconvenient water, poor user experience are changed existing for people.
To achieve the above object, a kind of clean robot automatic water changer, including the first control list are inventor provided
Member, elevating mechanism, water tank, sewage pump, water outlet pump, dirt sucking tube and outlet pipe；The water tank includes foul water tank and clear water tanks,
Foul water tank and clear water tanks are isolated by baffle；One end of the dirt sucking tube is set in the foul water tank, and the other end freely extends
And it is arranged vertically downward；One end of the outlet pipe is set in the clear water tanks, and the other end freely extends and sets vertically downward
It sets；The dirt sucking tube is connected to sewage pump, and the outlet pipe is connected to water outlet pump, and flowmeter and electromagnetism are provided on outlet pipe
Valve；
The first control unit is connect with elevating mechanism, sewage pump, water outlet pump, flowmeter and solenoid valve respectively；It is described
Solenoid valve is for controlling outlet pipe on and off；The elevating mechanism is used for the signal issued according to first control unit, control
One end that dirt sucking tube processed is arranged vertically downward is risen or decline, and rises for controlling one end that outlet pipe is arranged vertically downward
Or decline.
Further, the shape of the dirt sucking tube and outlet pipe is inverted U.
Inventor additionally provides a kind of clean robot automatic water-exchanging system, and the system comprises clean robots and cleaning
Robot automatic water changer, the clean robot automatic water changer are previously described clean robot automatic water-replacing dress
It sets；
The clean robot includes the second control unit, ontology, water tank, walking unit, power unit；The ontology is set
It is placed in above walking unit, the water tank is set to the top of walking unit；The power unit is connect with walking unit, and is
The walking unit provides power；Liquid level sensor is provided in the water tank；Second control unit respectively with power list
Member, liquid level sensor connection；The first control unit is also connect with the second control unit；
Second control unit is used to obtain the location information of first control unit transmission, and is driven by power unit
The walking unit is moved to that automatic water changer is corresponding to change water area；
It, will by elevating mechanism when the first control unit is for detecting that clean robot changes water area described in
In the dirt sucking tube and outlet pipe insertion water tank below liquid level, and sewage pump is opened, the liquid in water tank is pumped into foul water tank；
When liquid level sensor detects the liquid level in water tank less than the first preset height value, the first control is sent by the second control unit
Signal processed is to first control unit；
The first control unit is used for after receiving second control signal, is closed sewage pump and is opened water outlet pump and electricity
Liquid in clear water tanks is pumped into water tank by magnet valve by water outlet pump；The liquid level sensor of working as detects the liquid level in water tank
When greater than the second preset height value, second control signal is sent to first control unit by the second control unit；
The first control unit is used for after receiving second control signal, closes water outlet pump and solenoid valve, and pass through
Lifting unit is lifted the dirt sucking tube and outlet pipe, so that dirt sucking tube and outlet pipe are detached from the water tank of clean robot.
Further, the automatic water changer further includes position sensor, and the position sensor is for detecting cleaning
Whether robot, which is in, is changed water area.
Further, lid is additionally provided with above the water tank；The clean robot includes crawl section, the crawl
Portion and power unit are sequentially connected；The first control unit is also used to detect that clean robot is in described and changes water area
When, drive the crawl section to open the lid of the water tank by power unit, and after dirt sucking tube and outlet pipe are detached from, pass through
Power unit drives the crawl section to cover the lid of the water tank.
Further, the flowmeter is used to count the flow quantity out of clear water tanks, presets when detecting out that flow quantity is greater than
When flow, first control unit closes water outlet pump and solenoid valve.
Further, three-dimensional laser sensor, the three-dimensional laser sensor and the second control are additionally provided on the ontology
Unit connection processed；Sonar sensor and two-dimensional laser sensor are additionally provided on the ontology, the sonar sensor, two dimension swash
Optical sensor is connect with the second control unit respectively.
Further, the quantity of the sonar sensor is two, including the first sonar sensor and the second sonar sensing
Device, first sonar sensor and the second sonar sensor are respectively arranged at the opposite two sides of ontology.
The present invention provides a kind of clean robot automatic water changer and system, the automatic water changer includes first
Control unit, elevating mechanism, water tank, sewage pump, water outlet pump, dirt sucking tube and outlet pipe；The clean robot includes second
Control unit, ontology, water tank, walking unit, power unit.It in use, can be with when clean robot needs to change water
It is moved to by walking unit and changes water area, and dirt sucking tube and outlet pipe are inserted into the liquid level of water tank hereinafter, simultaneously by rear lifting mechanism
Start sewage pump to extract the sewage in water tank out, then restarts water outlet pump and water purification is delivered in water tank, to realize cleaning
The automatic water-replacing of robot water tank effectively increases and changes water efficiency, saved human cost, improves user experience.
Detailed description of the invention
Fig. 1 is the schematic diagram for the clean robot automatic water changer that one embodiment of the invention is related to；
Fig. 2 is the schematic diagram for the clean robot automatic water-exchanging system that one embodiment of the invention is related to；
Appended drawing reference:
101, clean robot automatic water changer；
112, first control unit；113, elevating mechanism；114, water tank；115, sewage pump；116, water outlet pump；117, it inhales
Dirt pipe；118, outlet pipe；119, flowmeter；120, solenoid valve；
102, clean robot；
121, the second control unit；122, water tank；123, walking unit；124, power unit；125, two-dimensional laser senses
Device；126, three-dimensional laser sensor；
128, sonar sensor；129, the first sonar sensor；130, the second sonar sensor；
131, crawl section；132, rotation section；133, fixed part.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
Referring to Fig. 1, the schematic diagram for the clean robot automatic water changer being related to for one embodiment of the invention.The dress
It sets including first control unit 112, elevating mechanism 113, water tank 114, sewage pump 115, water outlet pump 116, dirt sucking tube 117 and goes out
Water pipe 118；The water tank 114 includes foul water tank and clear water tanks, and foul water tank and clear water tanks are isolated by baffle；The dirt sucking tube
117 one end is set in the foul water tank, and the other end freely extends and is arranged vertically downward；One end of the outlet pipe 118
It is set in the clear water tanks, the other end freely extends and is arranged vertically downward；The dirt sucking tube 117 is connected to sewage pump 115,
The outlet pipe 118 is connected to water outlet pump 116, and flowmeter 119 and solenoid valve 120 are provided on outlet pipe 118；
The first control unit 112 respectively with elevating mechanism 113, sewage pump 115, water outlet pump 116, flowmeter 119 and
Solenoid valve 120 connects；The solenoid valve 120 is for controlling 118 on and off of outlet pipe；The elevating mechanism 113 is used for root
According to the signal that first control unit 112 issues, one end that control dirt sucking tube 117 is arranged vertically downward is risen or decline, Yi Jiyong
It rises or declines in one end that control outlet pipe is arranged vertically downward.
In use, dirt sucking tube is inserted into the lift action of dirt sucking tube by elevating mechanism by the container of water to be changed
Under liquid level, and starts soil pick-up pump and extract the sewage in container out.It, will then again by elevating mechanism to the lift action of outlet pipe
Outlet pipe is inserted into container bottom, and starts water outlet pump and the clear water in clear water tanks is transmitted in container, to realize to container
The interior automatic replacement with water, effectively increases and changes water efficiency, saved cost of labor.Elevating mechanism both can first set dirt sucking tube
Enter in container, extract dirt sucking tube out after the sewage in container is completely drawn out, and outlet pipe is placed in container, realizes that water purification passes
It is defeated；Dirt sucking tube and outlet pipe can also be controlled simultaneously while being gone up and down, and need to only be guaranteed during extracting sewage out, outlet pipe
Solenoid valve remain off so that sewage will not be entered in clear water tanks by outlet pipe, pollute clean in clear water tanks
Water purification source.
Dirt sucking tube and outlet pipe are gone up and down for the ease of elevating mechanism, also for the convenient conduction of water flow is convenient for, at this
In embodiment, the shape of the dirt sucking tube and outlet pipe is inverted U.By taking dirt sucking tube as an example, one end of inverted U is placed in foul water tank
It is interior, so that the sewage extracted out from the container of water to be changed can be discharged foul water tank；The other end of inverted U can be in elevating mechanism
Control under be lifted or decline so that sewage pipe merging or detaching the container of water to be changed, water operation is changed in realization.Certainly, another
In some embodiments, dirt sucking tube and outlet pipe may be other shapes, such as M shape.
Referring to Fig. 2, the schematic diagram for the clean robot automatic water changer being related to for one embodiment of the invention.The system
System includes clean robot 101 and clean robot automatic water changer 102, before the clean robot automatic water changer is
Clean robot automatic water changer described in text；
The clean robot 102 includes the second control unit 121, ontology, water tank 122, walking unit 123, power list
Member 124；The ontology is set to 123 top of walking unit, and the water tank 122 is set to the top of walking unit 123；It is described dynamic
Power unit 124 is connect with walking unit 123, and provides power for the walking unit 123；Liquid level biography is provided in the water tank
Sensor；Second control unit 121 is connect with power unit 124, liquid level sensor respectively；The first control unit 112
Also it is connect with the second control unit 121；
Second control unit 121 is used to obtain the location information of the transmission of first control unit 112, and passes through power list
Member 124 drives the walking unit 123 to be moved to, and automatic water changer is corresponding to change water area.
In the present embodiment, walking unit includes 4 traveling wheels, and ontology is arranged on traveling wheel, passes through traveling wheel
Rolling is moved.Certainly, in other embodiments, the quantity of traveling wheel can be adjusted according to actual needs, such as can be with
It is 2 or 3.The power unit is used to provide power.In the present embodiment, power unit is motor and its driving machine
Structure, such as when walking unit includes 4 traveling wheels, the quantity of motor is two, and each motor is respectively used to two walkings of driving
Wheel, the steering of walking unit carry out in such a way that two-wheel is differential.
The first control unit and the second control unit are with control signal sending function and data processing function
Electronic component, can be for CPU, MCU, PLC controller etc..It is described to change the underface region that water area be elevating mechanism,
So that automatic water changer more easily carries out changing water operation.Preferably, the automatic water changer further includes position sensor,
Whether the position sensor, which is used to detect clean robot to be in, changes water area.
When the first control unit 112 is for detecting that clean robot changes water area described in, pass through elevator
Sewage pump is opened in liquid level lower section in the dirt sucking tube and outlet pipe insertion water tank by structure 113, the liquid in water tank is pumped into dirty
In water tank；When liquid level sensor detects the liquid level in water tank less than the first preset height value, sent out by the second control unit
Send first control signal to first control unit.Liquid level sensor detect the liquid level in water tank less than the first preset height value,
Illustrate that the sewage in clean robot water tank has been drained.First preset height value can be set according to actual needs,
Numerical value is typically within the scope of 0~10cm.
The first control unit 112 is used for after receiving second control signal, is closed sewage pump and is opened water outlet pump
And solenoid valve, the liquid in clear water tanks is pumped into water tank by water outlet pump；The liquid level sensor of working as detects in water tank
When liquid level is greater than the second preset height value, second control signal is sent to first control unit by the second control unit.Liquid level
Sensor detects that the liquid level in water tank is greater than the second preset height value, illustrates that the water purification in clean robot water tank has been approached and fills out
Full, the second preset height value can specifically be set according to the volume of water tank, general to select the liquid for being not less than water tank capacity 3/4
Position height value.
The first control unit 112 is used for after receiving second control signal, closes water outlet pump and solenoid valve, and lead to
It crosses lifting unit and is lifted the dirt sucking tube and outlet pipe, so that dirt sucking tube and outlet pipe are detached from the water tank of clean robot.Then
Clean robot can continue to clean operation, and be moved again to after certain time interval it is described change water area,
Carry out automatic water-replacing operation.
In certain embodiments, the water in water tank spills when clean robot carries out washing and cleaning operation in order to prevent, described
Lid is additionally provided with above water tank.The clean robot includes crawl section 131, the crawl section 131 and power unit 124
Transmission connection；When the first control unit 112 is also used to detect that clean robot changes water area described in, pass through power
Unit drives the crawl section to open the lid of the water tank, and after dirt sucking tube and outlet pipe are detached from, is driven by power unit
Move the lid that the crawl section covers the water tank.
The crawl section 131 includes rotation section 132 and fixed part 133, and the rotation section 132 is connect with fixed part 133.It is excellent
Choosing, one end of fixed part is provided with hold assembly (such as clip).Second control unit receives the prompt letter of first control unit
Number, know that current clean robot has been in described and has changed water area, then drives rotation section to be rotated by power unit, in turn
The lid for driving the hold assembly clamping water tank of fixed part, realizes the opening operation to lid；Similarly, when first control unit exists
Second control signal is received, after the water tank for controlling dirt sucking tube and outlet pipe disengaging clean robot, the second control unit is also used
It is rotated in by power unit driving rotation section, and then drives the lid of the hold assembly clamping water tank of fixed part, realized
To the shutoff operation of lid.
Add water operation to realize more accurately, in certain embodiments, the flowmeter on outlet pipe is for counting net
Water tank goes out flow quantity, and when detecting out that flow quantity is greater than preset flow, first control unit closes water outlet pump and solenoid valve.
The value of preset flow can specifically be set according to the volume of water tank, general to select the bulking value for being not less than water tank capacity 3/4.
In certain embodiments, three-dimensional laser sensor 126, the three-dimensional laser sensor are additionally provided on the ontology
126 connect with the second control unit.The effect of three-dimensional laser sensor 126 is carried out to the working environment map of clean robot
Stereoscan, control unit carry out recombination to construct to the map scanned, to simulate the true ring of clean robot work
Border.
In certain embodiments, sonar sensor 128 and two-dimensional laser sensor 125, institute are additionally provided on the ontology
State sonar sensor 128, two-dimensional laser sensor 125 is connect with the second control unit respectively.Preferably, the sonar sensor
Quantity be two, including the first sonar sensor 129 and the second sonar sensor 130,129 He of the first sonar sensor
Second sonar sensor 130 is respectively arranged at the opposite two sides of ontology.Clean robot passes through two-dimensional laser and sonar sensor
Ambient enviroment is perceived, realizes the function of avoidance in walking process.
The present invention provides a kind of clean robot automatic water changer and system, the automatic water changer includes first
Control unit, elevating mechanism, water tank, sewage pump, water outlet pump, dirt sucking tube and outlet pipe；The clean robot includes second
Control unit, ontology, water tank, walking unit, power unit.It in use, can be with when clean robot needs to change water
It is moved to by walking unit and changes water area, and dirt sucking tube and outlet pipe are inserted into the liquid level of water tank hereinafter, simultaneously by rear lifting mechanism
Start sewage pump to extract the sewage in water tank out, then restarts water outlet pump and water purification is delivered in water tank, to realize cleaning
The automatic water-replacing of robot water tank effectively increases and changes water efficiency, saved human cost, improves user experience.
It should be noted that being not intended to limit although the various embodiments described above have been described herein
Scope of patent protection of the invention.Therefore, it based on innovative idea of the invention, change that embodiment described herein is carried out and is repaired
Change, or using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it directly or indirectly will be with
Upper technical solution is used in other related technical areas, is included within scope of patent protection of the invention.
Claims (8)
1. a kind of clean robot automatic water changer, which is characterized in that including first control unit, elevating mechanism, water tank,
Sewage pump, water outlet pump, dirt sucking tube and outlet pipe；The water tank includes foul water tank and clear water tanks, and foul water tank and clear water tanks pass through
Baffle isolation；One end of the dirt sucking tube is set in the foul water tank, and the other end freely extends and is arranged vertically downward；It is described
One end of outlet pipe is set in the clear water tanks, and the other end freely extends and is arranged vertically downward；The dirt sucking tube and sewage
Pump connection, the outlet pipe are connected to water outlet pump, and flowmeter and solenoid valve are provided on outlet pipe；
The first control unit is connect with elevating mechanism, sewage pump, water outlet pump, flowmeter and solenoid valve respectively；The electromagnetism
Valve is for controlling outlet pipe on and off；The elevating mechanism is used for the signal issued according to control unit, controls dirt sucking tube
The one end being arranged vertically downward is risen or decline, and for controlling one end rise or decline that outlet pipe is arranged vertically downward.
2. clean robot automatic water changer as described in claim 1, which is characterized in that the dirt sucking tube and outlet pipe
Shape is inverted U.
3. a kind of clean robot automatic water-exchanging system, which is characterized in that the system comprises clean robots and cleaning machine
People's automatic water changer, the clean robot automatic water changer are the cleaner as described in claim 1 to 2 any one
Device people's automatic water changer；
The clean robot includes the second control unit, ontology, water tank, walking unit, power unit；The ontology is set to
Above walking unit, the water tank is set to the top of walking unit；The power unit is connect with walking unit, and is described
Walking unit provides power；Liquid level sensor is provided in the water tank；Second control unit respectively with power unit, liquid
Level sensor connection；The first control unit is also connect with the second control unit；
Second control unit is used to obtain the location information of first control unit transmission, and by described in power unit driving
Walking unit is moved to that automatic water changer is corresponding to change water area；
It, will be described by elevating mechanism when the first control unit is for detecting that clean robot changes water area described in
In dirt sucking tube and outlet pipe insertion water tank below liquid level, and sewage pump is opened, the liquid in water tank is pumped into foul water tank；Work as liquid
When level sensor detects the liquid level in water tank less than the first preset height value, the first control is sent by the second control unit and is believed
Number to first control unit；
The first control unit is used for after receiving second control signal, is closed sewage pump and is opened water outlet pump and electromagnetism
Liquid in clear water tanks is pumped into water tank by valve by water outlet pump；The liquid level sensor of working as detects that the liquid level in water tank is big
When the second preset height value, second control signal is sent to first control unit by the second control unit；
The first control unit is used for after receiving second control signal, closes water outlet pump and solenoid valve, and pass through lifting
Unit is lifted the dirt sucking tube and outlet pipe, so that dirt sucking tube and outlet pipe are detached from the water tank of clean robot.
4. clean robot automatic water-exchanging system as claimed in claim 3, which is characterized in that the automatic water changer also wraps
Position sensor is included, the position sensor, which is used to detect clean robot whether to be in, changes water area.
5. clean robot automatic water-exchanging system as described in claim 3 or 4, which is characterized in that the top of the water tank is also
It is provided with lid；The clean robot includes crawl section, and the crawl section and power unit are sequentially connected；First control
When unit is also used to detect that clean robot changes water area described in, the crawl section is driven to open institute by power unit
The lid of water tank is stated, and after dirt sucking tube and outlet pipe are detached from, drives the crawl section to cover the water tank by power unit
Lid.
6. clean robot automatic water-exchanging system as claimed in claim 3, which is characterized in that the flowmeter is for counting net
Water tank goes out flow quantity, and when detecting out that flow quantity is greater than preset flow, first control unit closes water outlet pump and solenoid valve.
7. clean robot automatic water-exchanging system as claimed in claim 3, which is characterized in that be additionally provided with three on the ontology
Laser sensor is tieed up, the three-dimensional laser sensor is connect with the second control unit；Sonar sensing is additionally provided on the ontology
Device and two-dimensional laser sensor, the sonar sensor, two-dimensional laser sensor are connect with the second control unit respectively.
8. clean robot automatic water-exchanging system as claimed in claim 7, which is characterized in that the quantity of the sonar sensor
It is two, including the first sonar sensor and the second sonar sensor, first sonar sensor and the second sonar sensor
It is respectively arranged at the opposite two sides of ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455746.1A CN109965796A (en) | 2017-12-28 | 2017-12-28 | A kind of clean robot automatic water changer and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455746.1A CN109965796A (en) | 2017-12-28 | 2017-12-28 | A kind of clean robot automatic water changer and system |
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| Publication Number | Publication Date |
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| CN109965796A true CN109965796A (en) | 2019-07-05 |
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|---|---|---|---|
| CN201711455746.1A Pending CN109965796A (en) | 2017-12-28 | 2017-12-28 | A kind of clean robot automatic water changer and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111839375A (en) * | 2020-07-29 | 2020-10-30 | 江苏美的清洁电器股份有限公司 | A workstation and cleaning machines people for cleaning machines people |
| CN112842179A (en) * | 2020-12-31 | 2021-05-28 | 科沃斯商用机器人有限公司 | Base station and cleaning system |
| CN113951766A (en) * | 2021-10-19 | 2022-01-21 | 深圳华芯信息技术股份有限公司 | Floor sweeping robot base station and floor sweeping robot system thereof |
| CN114052604A (en) * | 2020-07-30 | 2022-02-18 | 沈阳新松机器人自动化股份有限公司 | Autonomous water changing system and method for floor washing robot |
| CN114052571A (en) * | 2020-07-30 | 2022-02-18 | 沈阳新松机器人自动化股份有限公司 | Automatic water changing system and method for floor washing robot |
| CN114343518A (en) * | 2020-10-13 | 2022-04-15 | 广东美的白色家电技术创新中心有限公司 | Management library of sweeping robot and sweeping robot system |
| WO2022227573A1 (en) * | 2021-04-27 | 2022-11-03 | 苏州三六零机器人科技有限公司 | Base station and cleaning system |
| WO2022262053A1 (en) * | 2021-06-16 | 2022-12-22 | 南京昱晟机器人科技有限公司 | Robot for cleaning transverse obstacles and washing method of robot |
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