CN112401773B - Ground washing and suction drying unmanned system, equipment and control method - Google Patents
Ground washing and suction drying unmanned system, equipment and control method Download PDFInfo
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- CN112401773B CN112401773B CN202011306627.1A CN202011306627A CN112401773B CN 112401773 B CN112401773 B CN 112401773B CN 202011306627 A CN202011306627 A CN 202011306627A CN 112401773 B CN112401773 B CN 112401773B
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
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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
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a floor washing and drying unmanned system which comprises a floor washing machine, an image module, a processing module and a navigation module; the scrubber machine comprises a cleaning unit controlled by the processing module for spraying detergent and water onto the floor and cleaning the floor; the image module comprises an image acquisition unit and an image collection unit; the image acquisition unit is used for acquiring an image of the area to be cleaned of the floor washing machine and sending the image to the processing module. The application has the following effects: the method comprises the steps of obtaining an image of each area to be cleaned, comparing the image with floor stain images in an image database and identifying stain conditions, controlling the water consumption and the detergent consumption of a cleaning unit by a processing module according to the stain conditions, accurately controlling the water consumption and the detergent consumption on each area to be cleaned, reducing the possibility of the problem that the cleaning is not clean due to excessive water quantity or detergent or due to insufficient water quantity or detergent, and improving the cleaning effect in the area.
Description
Technical Field
The application relates to the field of automatic cleaning robots, in particular to a floor-washing and suction-drying unmanned system, equipment and a control method.
Background
With the development of scientific technology, intelligent cleaning robots are well known, and moreover, similar household service robots such as intelligent sweeping machines and intelligent mopping machines are convenient to clean, time-saving and labor-saving, so that people get rid of tedious housework and step into the family life of common people. For the floor cleaning machine, also called a floor mopping robot, in the working process of the floor cleaning machine, the area through which the floor cleaning machine passes can clean the area, so that the effect of cleaning the ground is realized.
In the related art, a floor washing machine moves through the ground and cleans the ground by remote control or random movement, and cleaning generally refers to an effect of cleaning the ground by rubbing a brush plate under the floor washing machine and a rag on the brush plate back and forth, for example, application No. CN201710451102.9, entitled "floor mopping robot", in which a water tank in the floor washing machine sprays water to the ground when a supporting plate is in contact with the ground; the detergent storage tank sprays the detergent to the ground.
With respect to the related art in the above, the inventors consider that: in an actual cleaning process, the amount of dirt required per area to be cleaned is different, and therefore, if an equal amount of water or detergent is supplied to each area to be cleaned, there is a high possibility that the amount of water or detergent is excessive and wasted or the amount of water or detergent is insufficient and cleaning is not clean.
Disclosure of Invention
The application provides a floor-washing and drying unmanned system, equipment and a control method for the cleaning degree of a floor washing machine.
The application provides a wash and inhale dry unmanned driving system, equipment, control method adopts following technical scheme:
in a first aspect, a floor scrubbing and blotting unmanned system comprises
The system comprises a floor washing machine, an image module, a processing module and a navigation module;
the scrubber machine comprises a cleaning unit controlled by the processing module for spraying detergent and water onto the floor and cleaning the floor;
the image module comprises an image acquisition unit and an image collection unit;
the image acquisition unit is used for acquiring an image of a region to be cleaned of the floor washing machine and sending the image to the processing module;
the image collecting unit comprises an image database, and floor stain images are stored in the image database;
the processing module is used for acquiring the image of the area to be cleaned acquired by the image acquisition unit and controlling the amount of detergent sprayed and the amount of water sprayed by the cleaning unit according to the stain condition;
the navigation module is used for navigating the floor cleaning machine to clean the floor according to a preset line.
By adopting the technical scheme, the image of each area to be cleaned is acquired, the image is compared with floor stain images in the image database, the stain condition is identified, the water consumption and the cleaning agent consumption of the cleaning unit are controlled by the processing module according to the stain condition, the water consumption and the cleaning agent consumption are accurately controlled on each area to be cleaned, the possibility of the problem that the cleaning is not clean due to excessive water quantity or cleaning agent waste or insufficient water quantity or cleaning agent is reduced, and the cleaning effect in the area is improved.
Optionally, the system further comprises a water amount monitoring module, wherein the water amount monitoring module comprises a water level detection unit and a water supplementing unit, the water level detection unit comprises a plurality of first liquid level sensors arranged in a water tank of the floor washing machine, and the first liquid level sensors are connected to the processing module; the water replenishing unit comprises an unmanned aerial vehicle, the unmanned aerial vehicle is in wireless connection with the processing module, a replacement water tank is arranged on the unmanned aerial vehicle, and the replacement water tank is used for replenishing water to the water tank of the scrubber.
Through adopting above-mentioned technical scheme, water yield monitoring module carries out the water yield monitoring to the water tank of scrubber, when the water yield is less than a definite value, carries out the moisturizing through unmanned aerial vehicle to the water tank, and unmanned aerial vehicle replaces the manual work to carry out the moisturizing, reduces to cause secondary pollution to clear region.
Optionally, the image acquisition unit includes a camera disposed on the unmanned aerial vehicle, and the camera is configured to acquire and store floor image information according to a preset route.
By adopting the technical scheme, the unmanned aerial vehicle acquires floor images according to the preset route, the unmanned aerial vehicle stably flies to shoot, the acquired image quality is improved, the recognition rate is improved in the subsequent stain recognition step, and therefore the dosage accuracy of the cleaning agent and the water is improved.
Optionally, the image database records floor stain images with the same color as the floor of the area to be cleaned as the ground color.
By adopting the technical scheme, the floor stain image comes from the whole network, the ground color of the floor stain image is the same as the color of the area to be cleaned, the stain recognition rate in the area to be cleaned is improved, the recognition rate is improved in the subsequent stain recognition step, and therefore the dosage accuracy of the cleaning agent and the water is improved.
Optionally, the navigation module includes a plurality of bluetooth transmitting unit that set up in clean place and set up in unmanned aerial vehicle bluetooth receiving element in the scrubber.
Through adopting above-mentioned technical scheme, through bluetooth receiving element and a plurality of bluetooth transmitting element, fix a position unmanned aerial vehicle and scrubber through three point location's mode in treating clean place for scrubber and unmanned aerial vehicle avoid repeated clean or clean area incomplete according to predetermineeing the route motion, improve clean efficiency.
In a second aspect, the ground washing and drying unmanned equipment comprises a ground washing machine, wherein the ground washing machine comprises a ground washing machine body, a water blocking strip which is used for being abutted against and sealed with the ground is arranged below the ground washing machine body, a layer cleaning space is formed in the water blocking strip when the water blocking strip is abutted against the ground, and a driving assembly used for driving the water blocking strip to be abutted against the ground or separated from the ground is arranged between the water blocking strip and the ground washing machine body; a cleaning assembly is arranged below the floor washing machine and positioned on the inner side of the water blocking strip.
By adopting the technical scheme, the closed water blocking strip is arranged below the floor washing machine body, when the floor washing machine sprays water and detergent to a certain area for cleaning, the water blocking strip limits the water and the detergent inside the water blocking strip, so that the water and the detergent overflow to the periphery is reduced, and the possibility of secondary pollution to the cleaned area is reduced.
Optionally, the driving assembly comprises a plurality of cylinders, the piston ends of the cylinders are fixed on the water blocking strips, and the other ends of the cylinders are fixed on the floor cleaning machine body.
Through adopting above-mentioned technical scheme, carry out the moisturizing through unmanned aerial vehicle to the water tank, unmanned aerial vehicle replaces the manual work to carry out the moisturizing, reduces to cause secondary pollution to clear region.
In a third aspect, a method for driverless control of a floor scrubber includes
Dividing the area of a field to be cleaned, and numbering each area in a connection sequence;
sequentially acquiring images shot by each area, comparing the images with floor stain images in an image database to identify stains, and analyzing the stain condition; storing the currently acquired regional image in an image database;
sending a detergent dosage and water dosage instruction to a floor washing machine according to the stain condition;
the scrubber cleans each zone by number and sprays the cleaner according to the cleaner usage instructions for each zone.
By adopting the technical scheme, the field to be cleaned is divided into a plurality of areas, so that the area photos can be conveniently obtained, the similarity comparison between the shot photos and floor stain images in an image database is improved, the highest-similarity floor stain image is obtained by comparing the shot area photos with the floor stain images, and the detergent dosage and the water dosage of the shot area photo are expressed by using the detergent dosage and the water dosage of the highest-similarity floor stain image, so that a group of corresponding detergent dosage and water dosage is obtained for each area; the method does not need to identify stains, only needs to calculate the similarity of the two images, simplifies the calculation degree, provides different detergent dosage and water dosage schemes for each area, reduces the possibility of the problem that the water quantity or the detergent is excessive and wastes or the water quantity or the detergent is insufficient and the cleaning is not clean, and improves the cleaning effect in the area.
Optionally, the analyzing the soil condition specifically comprises: and extracting an image with the highest similarity with the shot image of the current area from the image database, wherein the detergent dosage and the water dosage of the current area correspond to those of the image with the highest similarity.
By adopting the technical scheme, the soil ratio in each area is graded, each grade corresponds to one detergent dosage and water dosage, and the accuracy of the detergent dosage and the water dosage in each area is improved.
Optionally, the step of moisturizing still includes to the scrubber, including the liquid level height who acquires the inside water tank of scrubber, when liquid level height is less than the default, send the moisturizing instruction to unmanned aerial vehicle, unmanned aerial vehicle follows the water source and moisturizes in to the water tank.
Through adopting above-mentioned technical scheme, carry out the moisturizing through unmanned aerial vehicle to the water tank, unmanned aerial vehicle replaces the manual work to carry out the moisturizing, reduces to cause secondary pollution to clear region.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the method comprises the steps of obtaining an image of each area to be cleaned, comparing the image with floor stain images in an image database and identifying stain conditions, controlling the water consumption and the detergent consumption of a cleaning unit by a processing module according to the stain conditions, accurately controlling the water consumption and the detergent consumption on each area to be cleaned, reducing the possibility of the problem that the water quantity or the detergent is excessive and wastes or the water quantity or the detergent is insufficient and cannot clean, and improving the cleaning effect in the area; meanwhile, the using amount of the cleaning agent and the using amount of water are reduced, the resource waste is reduced, and the energy-saving and environment-friendly properties are improved.
2. The closed water blocking strip is arranged below the floor cleaning machine body, when the floor cleaning machine sprays water and detergent to a certain area for cleaning, the water blocking strip limits the water and the detergent inside the water blocking strip, so that the water and the detergent overflow to the periphery is reduced, and the possibility of secondary pollution to the cleaned area is reduced.
3. Dividing a field to be cleaned into a plurality of areas, facilitating acquisition of pictures of the areas, improving similarity contrast between a shot picture and floor stain images in an image database, obtaining a floor stain image with the highest similarity by comparing the shot picture of the areas with the floor stain images, and expressing the detergent dosage and the water dosage of the shot picture of the areas by using the detergent dosage and the water dosage of the floor stain image with the highest similarity, so as to obtain a group of corresponding detergent dosage and water dosage for each area; the method has the advantages that stains are not required to be recognized, the similarity of the two images is calculated, the calculation degree is simplified, different detergent usage amounts and water usage amounts are provided for each region, the possibility of the problem that water or detergent is excessive and is wasted or water or detergent is insufficient and is not clean is reduced, the cleaning effect in the region is improved, the waste of the detergent and the water is reduced, and the method is energy-saving and environment-friendly.
Drawings
FIG. 1 is a schematic diagram of a module of a floor scrubbing and drying unmanned system according to the present application.
FIG. 2 is a partial schematic view of a scrubber drying drone according to the present application.
FIG. 3 is a flow chart of a method for driverless control of the present application.
FIG. 4 is a schematic view of the partitioned areas of the present invention of a method of scrub dry drone control.
Description of reference numerals: 100. a floor cleaning machine body; 200. a drive assembly; 201. a cylinder; 300. a water-retaining strip; 400. and cleaning the space.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
Example 1:
the embodiment of the application discloses unmanned system is inhaled to washing ground.
As shown in fig. 1, the system comprises a floor washing machine, an image module, a processing module, a navigation module and a water quantity monitoring module.
The floor cleaning machine in the embodiment is a common automatic floor cleaning machine in the field, can automatically run and spray water and detergent to a passing area; including the cleaning unit, the cleaning unit is brush dish or brush board, water tank and the sanitizer bin of floor scrubber bottom, and brush dish or brush board are washed ground, are cleaned to regional spray sanitizer and water when floor scrubber passes through the region, and this is the conventional technological means in the floor scrubber field, and the no longer describes in this embodiment.
The image module comprises an image acquisition unit and an image collection unit.
The image acquisition unit is the camera, and the camera is used for treating clear region and takes a picture and generate the image, and in this embodiment, the camera is installed in unmanned aerial vehicle, treats clear region through unmanned aerial vehicle and takes the image.
Be provided with sub processing module in the unmanned aerial vehicle, sub processing module can be CPU or MCU, carries the wiFi module in the year, and sub processing module obtains the image that the camera was shot, sends for processing module through the wiFi network.
The image collecting unit comprises an image database, floor stain images are stored in the image database, the floor stain images are images with the same bottom color as that of an area to be cleaned, and the floor stain images are obtained from test shooting or network screening when the floor stain images leave a factory. The floor stain image is stored in a processing module.
And each floor stain image is associated with a group [ xi, yi ], wherein xi represents the amount of the cleaning agent required by the stain condition in the floor stain image, and yi represents the amount of water required by the stain condition in the floor stain image.
The processing module, which is a computer in this embodiment, is installed in the floor washing machine as an embedded device, and includes a CPU for calculation and a storage for storage, receives a photo image of an area to be cleaned taken by the camera, performs similarity calculation between the taken photo image and a floor stain image in an image database, and calculates the similarity between the two images as a conventional method in the field of image processing, which is not described in detail in this embodiment.
After the processing module calculates and obtains a floor stain image with the similarity to the photo image shot by the camera, the cleaning agent consumption and the water consumption related to the floor stain image are used as the cleaning agent consumption and the water consumption of the shot photo image, namely a group of cleaning agent consumption and water consumption is obtained from the photo image shot at present. After taking the resulting photographic image to obtain a set of detergent usage and water usage, the processing module is further configured to control the scrubber to spray detergent and water onto the area currently to be cleaned with the obtained detergent usage and water usage.
Generally, a floor washing machine includes a water tank for storing water and a detergent storage tank for storing detergent therein. The detergent dosage and the water dosage can be realized by controlling the opening time of the electromagnetic valve of the spray heads of the water tank and the detergent storage tank.
The processing module adds the shot image to an image database for serving as a reference image for subsequent similarity calculation after calculating the similarity of the currently shot photo image and correlating the similarity to a group of detergent usage and water usage.
The water yield monitoring module includes water level detection unit and moisturizing unit, and water level detection unit is including setting up a plurality of level sensor in the water tank, and level sensor responds to the water level height in the water tank, and in this embodiment, any model that can respond to level height level sensor is all enough, and processing module is interrupted or uninterruptedly acquires the water level height that level sensor sensed, and when the water level was less than the default, processing module sent the moisturizing instruction to unmanned aerial vehicle neutron processing module through wiFi.
Unmanned aerial vehicle includes unmanned driving system and sub-processing module, and unmanned driving system is the ripe prior art of unmanned aerial vehicle, and sub-processing module can send drive flight instruction to unmanned driving system, and sub-processing module passes through navigation module's positioning control unmanned aerial vehicle and flies to the destination. A spare water tank can be hung on the unmanned aerial vehicle, and the water tank controls water in the water tank to be discharged outwards through an electromagnetic valve.
Unmanned aerial vehicle's sub-processing module sends the moisturizing instruction to unmanned aerial vehicle self driving system, and control unmanned aerial vehicle flight reachs the water source, through artificial adding water to the reserve tank on the unmanned aerial vehicle after, unmanned aerial vehicle reachs the scrubber position under navigation module location, navigation, and sub-processing module control solenoid valve is opened, and water in the reserve tank is to supplementing in the water tank of scrubber. Wherein, the water tank in the floor cleaning machine sets up in the floor cleaning machine top for uncovered water tank for unmanned aerial vehicle can be with in the water tank discharging.
The navigation module comprises a Bluetooth transmitting unit and a Bluetooth receiving unit; the Bluetooth transmitting units are a plurality of Bluetooth transmitters and are arranged on the periphery of the cleaning field, and in the embodiment, the number of the Bluetooth transmitters is at least 3; the Bluetooth receiving unit comprises a first Bluetooth receiver and a second Bluetooth receiver, the first Bluetooth receiver is carried on a sub-processing module of the unmanned aerial vehicle, and the second Bluetooth receiver is carried on a processing module of the scrubber and is used for positioning the unmanned aerial vehicle in the cleaning field and positioning the scrubber in the cleaning field respectively. Each Bluetooth transmitting unit radiates Bluetooth signals into the cleaning field, the Bluetooth receiving units receive the Bluetooth signals with different signal intensities, and the positions of the Bluetooth receiving units can be calculated by a three-point positioning method, so that each point position in the cleaning field can be determined. Wherein the reserve tank position should be representative of the drone position and the tank position representative of the scrubber position.
Through the positioning of the unmanned aerial vehicle and the scrubber, a route for taking a picture of the area to be cleaned of the unmanned aerial vehicle to obtain an image is planned, and a cleaning route for the area to be cleaned of the scrubber is planned to obtain.
And the communication module is a WiFi network and is used for transmitting images or instructions between the modules.
The implementation principle of the ground washing and dry sucking unmanned system in the embodiment of the application is as follows:
firstly, photographing an area to obtain an image, carrying out similarity calculation on the photographed image and floor stain images in an image database to obtain an image with the highest similarity, associating a group of detergent dosage and water dosage with each floor stain image in the image database, and controlling a floor washing machine to clean the current area by using the associated detergent dosage and water dosage for each area.
Example 2:
the embodiment of the application discloses unmanned equipment is blotted to washing ground.
As shown in fig. 2, the washing machine body 100 is omitted from the figure and used for form rollers and the like, and the washing machine comprises the washing machine body 100, a water bar 300 is arranged below the washing machine body 100, the water bar 300 is connected end to form a closed rectangle, a driving assembly 200 is arranged between the water bar 300 and the washing machine body 100, the driving assembly 200 comprises a plurality of cylinders 201 arranged between the water bar 300 and the washing machine body 100, the piston ends of the cylinders 201 are fixed on the water bar 300, the other ends of the cylinders are fixed at the bottom of the washing machine body 100, and the water bar 300 along with the expansion of the cylinders 201 can be abutted against or separated from the floor. The expansion and contraction of the air cylinder 201 are controlled by the processing module, when the air cylinder 201 extends, the water blocking strips 300 form a cleaning space 400 with the bottom surface, and the floor washing machine cleans an area in the cleaning space 400 to reduce the overflow of sprayed detergent and water to the outside of the area.
Example 3:
the embodiment of the application discloses a control method for floor washing and drying unmanned aerial vehicle.
As shown in fig. 3 and 4, a field to be cleaned is divided into a plurality of areas, and the divided areas in the field are labeled in an S-shape.
Under the navigation of the navigation module, the unmanned aerial vehicle and the scrubber are arranged to pass through the location of the region from small to large according to the region number; set up unmanned aerial vehicle and scrubber' S route of presetting promptly and do exercises for according to regional S type. Unmanned aerial vehicle: the unmanned aerial vehicle passes through the upper part of each area in an S-shaped mode according to the area number, the height between the unmanned aerial vehicle and the floor is 1-1.2m, and image acquisition is carried out on each area through the camera. A floor washing machine: each zone is cleaned independently by passing it in an S-shape in accordance with the zone number.
The unmanned aerial vehicle obtains the image of each area shot, sends to processing module, and processing module obtains the image of each area, and the image is compared with the floor stain image in the image database, obtains the floor stain image that the image similarity with shooting obtained is the highest, and image similarity calculates as the conventional gimmick in the image processing field, and the description is not repeated in this embodiment.
For example: the unmanned aerial vehicle shoots the first area to obtain an image Q1, the processing module calculates and searches a floor stain image Q2 with the highest similarity to the image Q1 in the image database, wherein Q2 corresponds to a group of detergent dosage and water dosage [ x1, y1], and then the detergent dosage and the water dosage [ x1, y1] of Q2 are used for representing the detergent dosage and the water dosage of the image Q1. If necessary, the z1 parameter can be correlated with the z1 parameter indicating the time required for cleaning.
Thus, the detergent dosage and water dosage of the second area [ x2, y2 ];
detergent dosage and water dosage for the third zone x3, y 3;
detergent dosage and water dosage for the fourth zone x4, y 4;
detergent dosage and water dosage for the fifth zone x5, y 5;
……
the amount of detergent and the amount of water [ xn, yn ] used in the nth region.
After the detergent dosage and the water dosage of each area are obtained, the shot picture of each area is stored in an image database to be used as a reference for the similarity calculation of the subsequently shot image.
In the working process of the floor washing machine, the floor washing machine sequentially passes through a first area, a second area, a third area and an … Nth area according to a preset route, a control module sends a detergent dosage and water dosage instruction to the floor washing machine, and the floor washing machine sprays the detergent dosage and the water dosage to the first area, the second area, the third area and the … Nth area according to the detergent dosage and the water dosage of [ x1, y1], [ x2, y2] and … [ xn, yn ] respectively.
During the cleaning process, the method also comprises a process of monitoring the water quantity of the water inside the floor washing machine: the inside water level sensor who sets up of water tank monitors the water level, and when the water level was less than the default (can be for remaining half, remaining quarter or eighth), processing module control sent wireless signal to unmanned aerial vehicle, and unmanned aerial vehicle gets the water to the water source water to reach the moisturizing in the scrubber water tank of scrubber position. Unmanned aerial vehicle passes through navigation module's three point location and reachs the ground cleaning machine position from the water source, and the water source accessible is artificial to hang reserve tank and locate unmanned aerial vehicle on, when reacing ground cleaning machine position the moisturizing in the water tank of opening reserve tank to ground cleaning machine.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (5)
1. A floor-washing and suction-drying unmanned control method is characterized in that a floor-washing and suction-drying unmanned system comprises:
a floor washing machine including a cleaning unit for spraying detergent and water to a floor and cleaning the floor;
the image module comprises an image acquisition unit and an image collection unit; the image acquisition unit is arranged on the unmanned aerial vehicle and is used for acquiring an image of a to-be-cleaned area of the floor cleaning machine through the unmanned aerial vehicle; the image collecting unit comprises an image database, and floor stain images are stored in the image database;
the processing module is taken as an embedded device, is arranged in the floor washing machine and is used for acquiring the image of the area to be cleaned acquired by the image acquisition unit and controlling the amount of detergent sprayed and the amount of water sprayed by the cleaning unit according to the dirt condition; the cleaning unit is controlled by the processing module, and the image acquisition unit sends an image to the processing module; the floor stain image is stored in the processing module;
the navigation module is used for navigating the floor cleaning machine to clean the floor according to a preset line;
the ground washing and dry sucking unmanned system further comprises a water quantity monitoring module, the water quantity monitoring module comprises a water level detection unit and a water supplementing unit, the water level detection unit comprises a plurality of first liquid level sensors arranged in a water tank of the ground washing machine, and the first liquid level sensors are connected to the processing module; the water replenishing unit comprises an unmanned aerial vehicle, the unmanned aerial vehicle is wirelessly connected with the processing module, a replacement water tank is arranged on the unmanned aerial vehicle, and the replacement water tank is used for replenishing water to a water tank of the scrubber; the image acquisition unit comprises a camera arranged on the unmanned aerial vehicle, and the camera is used for acquiring and storing floor image information according to a preset route;
the floor washing machine further comprises a floor washing machine body (100), a water blocking strip (300) which is used for being abutted against and sealed with the ground is arranged below the floor washing machine body (100), a layer cleaning space (400) is formed in the water blocking strip (300) when the water blocking strip (300) is abutted against the ground, and a driving assembly (200) used for driving the water blocking strip (300) to be abutted against the ground or separated from the ground is arranged between the water blocking strip (300) and the floor washing machine body (100); the water-blocking strips (300) are connected end to form a closed rectangle, and the floor washing machine cleans an area in the cleaning space (400);
the floor washing and drying unmanned control method comprises the following steps:
dividing the area of a field to be cleaned, and numbering each area in a connection sequence;
sequentially acquiring images shot by each area, comparing the images with floor stain images in an image database, and identifying to analyze stain conditions; storing the currently acquired regional image in an image database;
sending a detergent dosage and water dosage instruction to the floor washing machine according to the stain condition;
the floor washing machine cleans each area according to the number and sprays the cleaning agent according to the cleaning agent dosage instruction of each area;
the ground washing and dry suction unmanned control method further comprises the step of supplementing water to the ground washing machine, wherein the step comprises the steps of obtaining the liquid level height of a water tank in the ground washing machine, and sending a water supplementing instruction to the unmanned aerial vehicle when the liquid level height is lower than a preset value, and the unmanned aerial vehicle supplements water to the water tank of the ground washing machine from a water source;
when the floor washing machine sprays water and detergent to clean an area, the water-blocking strip (300) limits the water and the detergent inside the water-blocking strip (300), so that the water and the detergent overflow to the periphery is reduced, and the possibility of secondary pollution to the cleaned area is reduced.
2. The method of claim 1, wherein the image database records images of floor stains in a base color that is the same color as the area to be cleaned, each floor stain image corresponding to a set of detergent usage and water usage.
3. The method according to claim 1, wherein the navigation module comprises a plurality of Bluetooth transmitting units disposed in the cleaning field and Bluetooth receiving units disposed in the unmanned aerial vehicle and the scrubber.
4. The method as claimed in claim 1, wherein the driving assembly (200) comprises a plurality of air cylinders (201), and the air cylinders (201) have piston ends fixed to the water bar (300) and other ends fixed to the scrubber body (100).
5. The method according to claim 1, wherein analyzing the soil condition comprises: and extracting an image with the highest similarity with the shot image of the current area from the image database, wherein the detergent dosage and the water dosage of the current area correspond to those of the image with the highest similarity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011306627.1A CN112401773B (en) | 2020-11-19 | 2020-11-19 | Ground washing and suction drying unmanned system, equipment and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011306627.1A CN112401773B (en) | 2020-11-19 | 2020-11-19 | Ground washing and suction drying unmanned system, equipment and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112401773A CN112401773A (en) | 2021-02-26 |
| CN112401773B true CN112401773B (en) | 2022-02-11 |
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| CN202011306627.1A Active CN112401773B (en) | 2020-11-19 | 2020-11-19 | Ground washing and suction drying unmanned system, equipment and control method |
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