CN113261881A - Cleaning system and automatic battery replacement method - Google Patents
Cleaning system and automatic battery replacement method Download PDFInfo
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- CN113261881A CN113261881A CN202110602619.XA CN202110602619A CN113261881A CN 113261881 A CN113261881 A CN 113261881A CN 202110602619 A CN202110602619 A CN 202110602619A CN 113261881 A CN113261881 A CN 113261881A
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- battery
- temporary storage
- robot
- bin
- base station
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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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
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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
- A47L2201/022—Recharging of batteries
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a cleaning system, comprising: self-movable sweeping robot, comprising: the battery box is provided with a first variable magnet for grabbing or releasing the battery; a base station, comprising: a backup battery compartment for accommodating a backup battery; a temporary storage bin for temporarily storing the battery or the standby battery; the first driving device is used for pushing the standby battery in the battery temporary storage bin into the battery bin and receiving the battery in the battery bin and accommodating the battery into the temporary storage bin; and the second driving device comprises a second variable electromagnet and is used for pushing out the standby battery from the standby battery bin and receiving the battery in the temporary storage bin into the standby battery bin. Compared with the existing scheme, the invention has the advantages of simple structure principle, cost reduction, strong reliability and contribution to large-scale popularization. The invention also provides an automatic battery replacement method.
Description
Technical Field
The invention relates to the technical field of cleaning, in particular to a cleaning system and a method for automatically replacing a battery.
Background
The continuous sweeping coverage rate of cleaning equipment such as sweeping robots in the market at present is a weak item, and the sweeping robots can sweep in smaller rooms and can complete sweeping within limited electric quantity; however, when a large room is cleaned, the cleaning robot consumes power and needs recharging when the cleaning robot does not clean the room completely.
Based on this, as the chinese patent publication No. CN111490210A and its congeneric patent, a scheme of using an automatic battery replacement device to continue a journey for a sweeping robot is proposed, which solves the above problems to some extent, but the automatic battery replacement device adopts a slider-crank device to replace batteries, so that the reliability and the service life are both low, and if the processing precision is not high, the battery replacement process cannot be completed easily.
The Chinese utility model patent publication with publication number CN206059566U discloses a floor sweeping robot, which comprises a robot body, wherein the robot body comprises a machine body and at least two battery boxes, the machine body is provided with a battery compartment for accommodating the battery boxes, the battery boxes are detachably and electrically connected with the machine body in the battery compartment, and each battery box can independently supply power to the machine body; the robot of sweeping floor has two at least batteries, when using, one of them is as power supply battery, remaining as backup battery, the robot of sweeping floor can hand-carry backup battery, also can place backup battery in power department and charge reserve, when the power supply battery electric quantity is not enough, available backup battery replaces power supply battery, and place power supply battery back in power department and charge, alternate use, when the battery charges, the robot of sweeping floor still can continue work, thereby the time of endurance of the robot of sweeping floor is prolonged, clean efficiency is improved, and foretell fills the influence and the restriction that the power supply mode can not receive distance and interference thing, high durability and convenient use, clean effectual. However, this method requires two batteries to be carried on the robot body of the sweeping robot, which is undoubtedly a great inconvenience for the sweeping robot with a narrow space.
Therefore, how to provide a scheme for automatically replacing the battery of the sweeping robot with simple structure and high reliability becomes a technical problem which needs to be solved urgently in the industry.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a method for solving the problem that the reliability of the scheme for automatically replacing the battery of the sweeping robot in the prior art is not enough.
The technical scheme is as follows: a cleaning system, comprising:
self-movable sweeping robot, comprising: the sweeping robot comprises a driving wheel, a universal wheel, a dust box and a battery bin, wherein the driving wheel is used for driving the sweeping robot to move, the universal wheel is used for controlling the traveling direction of the sweeping robot, the dust box is used for storing dust, the battery bin is used for accommodating a battery, and the battery bin is provided with a first variable magnet used for grabbing or releasing the battery;
a base station, comprising:
at least one spare battery compartment for accommodating a spare battery;
a temporary storage bin for temporarily storing the battery or the standby battery;
the first driving device is used for pushing the standby battery in the temporary storage bin into the battery bin, receiving the battery released by the first variable magnet in the battery bin and storing the battery into the temporary storage bin;
and the second driving device comprises a second variable electromagnet used for grabbing or releasing the standby battery, and is used for pushing the standby battery out of the standby battery bin and containing the battery in the temporary storage bin into the standby battery bin.
Further, the basic station top is equipped with and is used for placing robot's the platform of sweeping the floor, the battery compartment is located robot bottom of sweeping the floor, be equipped with on the platform and be used for supplying robot of sweeping the floor to get into the power conversion station of trading the battery state, work as robot of sweeping the floor is located when trading on the power conversion station, the temporary storage storehouse corresponds the battery compartment, the temporary storage storehouse includes along vertical direction by supreme first temporary storage storehouse and the second temporary storage storehouse that sets gradually down, first temporary storage storehouse with the second temporary storage storehouse communicates each other, works as first variable magnet release behind the battery in the battery compartment, the battery drops to quilt first drive arrangement receives and is accomodate and get into the second temporary storage storehouse.
Further, the first driving device is arranged below the first temporary storage bin and comprises a first rail arranged in the vertical direction, a first push rod connected with the first rail in a sliding mode and a first power assembly, and the first power assembly is connected with the first push rod in a driving mode and drives the first push rod to do linear reciprocating motion in the direction of the first rail.
Further, the second driving device is arranged on one side of the second temporary storage bin and comprises a second rail, a second push rod connected with the second rail in a sliding mode and a second power assembly, the second push rod is provided with the second variable magnet, and the second power assembly is connected with the second push rod in a driving mode and drives the second push rod to do linear reciprocating motion along the direction of the second rail.
Further, the number of the spare battery bins is at least two, and the spare battery bins are arranged to at least partially surround the second temporary storage bin.
Further, the second variable magnet is an electromagnet.
Further, be equipped with back on the platform and fill calibrating device for detect whether the robot of sweeping the floor is located trades the electric station.
Further, the recharging calibration device comprises an infrared detection assembly arranged on the platform and used for detecting the driving wheel and/or the universal wheel.
Further, be equipped with on the platform and be used for fixing the fixed establishment of robot of sweeping the floor, work as the robot of sweeping the floor gets into when trading the electric station, fixed establishment is fixed the robot of sweeping the floor, work as the robot of sweeping the floor does not get into when trading the electric station, fixed establishment releases the robot of sweeping the floor.
Further, the fixing mechanism comprises a universal wheel locking assembly used for locking the universal wheel when a battery bin of the sweeping robot is aligned with the temporary storage bin and releasing the universal wheel after battery replacement is completed.
Further, the first variable magnet comprises at least one electromagnet arranged in the battery compartment or close to the battery compartment.
Furthermore, the electromagnets include four, and the branch is located battery compartment upper end four corners department.
Further, a pressure sensor is arranged at the top of the first push rod and used for detecting whether the first push rod is loaded with batteries or not and judging the number of the loaded batteries.
Furthermore, the platform is also connected with an inclined plane for the sweeping robot to enter the platform.
Furthermore, the base station also comprises a dust collecting device which comprises a negative pressure dust collecting channel arranged in the base station and a dust collecting port arranged on the upper surface of the platform, wherein the dust collecting port is communicated with the negative pressure dust collecting channel, and a filtering component is arranged between the dust collecting port and the negative pressure dust collecting channel; and a dust discharge port which is used for being in butt joint with the dust suction port is arranged at the bottom end of the dust box.
Furthermore, a charging assembly used for charging the battery or the standby battery is arranged in the standby battery bin, and comprises a charging interface which is used for being in butt joint with the battery interface when the battery enters the standby battery bin and enabling the battery to enter a charging state.
The automatic battery replacing method comprises the following steps:
the sweeping robot runs to a battery replacing station of a base station and is in butt joint with the base station, and a temporary storage bin of the base station is aligned with a battery bin of the sweeping robot and enters a battery replacing state;
the first variable magnet releases and enables the battery in the battery compartment to fall off, and the first driving device receives and stores the battery into the first temporary storage compartment;
the second driving device pushes out the standby battery to the second temporary storage bin;
the first driving device pushes the spare battery into the battery compartment and fixes the spare battery through a first variable magnet, and meanwhile, the first driving device loads the battery to a second temporary storage compartment;
the second driving device grabs the battery through the second variable magnet and stores the battery into the standby battery compartment from the second temporary storage compartment.
Further, the step of receiving the battery from the second temporary storage bin into the standby battery bin by the second driving device further includes the step of:
the first drive means continues to move up to the top of the base station and is ready to accept the next battery.
Further, after the step of releasing the first variable magnet and dropping the battery in the battery compartment, the method further comprises the steps of: and judging whether the first driving device receives the battery or not, if so, receiving and storing the battery by the first driving device into the first temporary storage bin, otherwise, stopping the battery replacement state and sending an alarm.
Further, before the sweeping robot runs to a power exchange station of a base station and is in butt joint with the base station, the method further comprises the following steps: the sweeping robot communicates with the base station and sends a battery replacement request.
Further, after the sweeping robot communicates with the base station and sends a request for replacing the battery, the method further comprises:
the base station receives the request, inquires the stored information of the standby battery, judges whether the request of replacing the battery is agreed according to the information, if the request is agreed, the sweeping robot drives to the base station to enter a battery replacement state, and if the request is not agreed, the sweeping robot enters a standby state.
Further, the information of the backup battery comprises at least one of the following data information: the amount of electricity, the number of uses, or the health information of the backup battery.
Further, if the base station does not agree with the request, the following strategies are executed before the sweeping robot enters the standby state:
searching nearby charging seats, planning and executing a path from the charging seat to the charging seat, and entering a charging state;
and if the nearby charging seat cannot be searched, the sweeping robot enters a standby state.
Further, if the base station does not agree with the request, the following strategies are executed before the sweeping robot enters the standby state:
searching other nearby base stations, planning and executing paths from the base stations to the other base stations, and entering a battery replacement state;
and if no other nearby base station is searched, the sweeping robot enters a standby state.
Further, when the sweeping robot runs to the power exchanging station, whether the universal wheels and/or the driving wheels of the sweeping robot are/is located at the position of the power exchanging station is detected, and if yes, the universal wheels and/or the driving wheels are fixed.
After the battery is stored in the standby battery compartment from the second temporary storage compartment, the method further comprises the following steps: and charging the battery in the spare battery bin.
Has the advantages that: according to the cleaning system, the first variable magnet is arranged on the battery bin of the sweeping robot, so that the battery of the sweeping robot can be released from the battery bin, the base station is arranged, and the standby battery bin and the temporary storage bin are arranged in the base station, so that the battery on the sweeping robot can be replaced by the standby battery in the standby battery bin through the temporary storage bin under the action of the first driving device and the second driving device, and the original battery is stored in the standby battery bin.
Drawings
FIG. 1 is a schematic plan sectional view of one embodiment of the cleaning system of the present invention;
FIG. 2 is a schematic plan sectional view of the cleaning system of FIG. 1 with the first drive mechanism receiving the battery in the first temporary storage compartment;
FIG. 3 is a schematic plan sectional view of the cleaning system of FIG. 1 when a second driving device drives the spare battery to be loaded into the second temporary storage compartment;
FIG. 4 is a schematic plan sectional view of the first drive assembly of the cleaning system of FIG. 1 shown loading a battery backup into the battery compartment;
FIG. 5 is a schematic plan cross-sectional view of the cleaning system of FIG. 1 with a second drive assembly receiving batteries into a battery backup compartment;
FIG. 6 is a schematic plan cross-sectional structural view of another embodiment of the cleaning system of the present invention;
FIG. 7 is a schematic plan sectional view of another embodiment of the cleaning system of the present invention;
FIG. 8 is a schematic plan sectional view of another embodiment of the cleaning system of the present invention;
FIG. 9 is a schematic flow chart illustrating the steps of an embodiment of the method for automatically replacing a battery according to the present invention;
FIG. 10 is a schematic flow chart illustrating step S500 of the method for automatically replacing a battery shown in FIG. 9;
FIG. 11 is a schematic flow chart illustrating step S200 of the automatic battery replacement method shown in FIG. 9;
FIG. 12 is a schematic front-end flow chart of step S100 of the automatic battery replacement method shown in FIG. 9;
FIG. 13 is a schematic view of a post-processing flow of step S110 in the flow of steps shown in FIG. 12;
FIG. 14 is a front view of the flow chart of step S130 in the flow chart of steps shown in FIG. 13;
FIG. 15 is a schematic front view of another embodiment of step S130 in the flowchart of FIG. 13;
fig. 16 is a flow chart illustrating a front step of S100 in the method for automatically replacing a battery shown in fig. 9 according to another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to figures 1-5 an embodiment of the cleaning system of the present invention comprises a self-moving sweeping robot 2 and a base station 1. The self-movable sweeping robot 2 comprises: a driving wheel 22 for driving the sweeping robot 2 to move, a universal wheel 24 for controlling the traveling direction of the sweeping robot 2, a dust box 21 for storing dust, and a battery compartment 23 for accommodating a battery, wherein the battery compartment 23 is provided with a first variable magnet 231 for catching or releasing the battery;
the base station 1 includes: at least one backup battery compartment 120 for accommodating a backup battery; a temporary storage bin 10 for temporarily storing the battery or the backup battery; a first driving device 11 for pushing the spare battery in the temporary storage bin 10 into the battery compartment 23, and for receiving the battery released by the first variable magnet 231 in the battery compartment 23 and accommodating the battery into the temporary storage bin 10; a second driving device 12 including a second variable electromagnet for grasping or releasing the battery backup, the second driving device 12 being configured to push the battery backup out of the battery backup compartment 120 and to store the battery in the temporary storage compartment 10 into the battery backup compartment 120.
Through set up first variable magnet 231 on battery compartment 23 at robot 2 sweeps floor, make robot 2's the battery of sweeping floor can be released from battery compartment 23, and through setting up basic station 1, and set up reserve battery compartment 120 and temporary storage bin 10 in the basic station 1, make reserve battery under first drive arrangement 11 and second drive arrangement 12 effect, through temporary storage bin 10 with the battery replacement that will sweep floor on robot 2 becomes reserve battery in the reserve battery compartment 120, and accomodate into reserve battery compartment 120 with original battery, compare current scheme, and the structure principle is simple, the cost is reduced, and the reliability is stronger, do benefit to extensive popularization.
In this embodiment, 1 top in basic station is equipped with and is used for placing robot 2's the platform of sweeping the floor, battery compartment 23 is located robot 2 bottom of sweeping the floor, be equipped with on the platform and be used for supplying robot 2 of sweeping the floor to get into the trade electric position of trading the battery state, work as robot 2 is located of sweeping the floor when trading on the electric position, temporary storage bin 10 corresponds battery compartment 23, temporary storage bin 10 includes first temporary storage bin 101 and the second temporary storage bin 102 that set gradually by supreme down along vertical direction, and first temporary storage bin 101 and second temporary storage bin 102 are set up to vertical arrangement and communicate each other from top to bottom.
When the first variable magnet 231 releases the battery in the battery compartment 23, the battery falls to be received by the first driving device 11 and is received into the second temporary storage compartment 102. Through the natural falling of battery extremely, saved and set up the fixture of active control, not only the structure is simpler, the cost is reduced, and the reliability is stronger. The first temporary storage bin 101 and the second temporary storage bin 102 which are communicated with each other jointly form the temporary storage bin 10, so that the batteries released from the battery bin 23 can move between the first temporary storage bin 101 and the second temporary storage bin 102, and space is saved.
Specifically, the first driving device 11 is disposed below the first temporary storage bin 101, and includes a first rail 111 disposed along a vertical direction, a first push rod 112 slidably connected to the first rail 111, and a first power assembly 113, where the first power assembly 113 is connected to the first push rod 112 in a driving manner and drives the first push rod 112 to perform a linear reciprocating motion along the first rail 111.
Specifically, the second driving device 12 is disposed on one side of the second temporary storage 102, and includes a second rail 121, a second push rod 123 slidably connected to the second rail 121, and a second power assembly 122, the second push rod 123 is provided with the second variable magnet 124, and the second power assembly 122 is connected to the second push rod 123 in a driving manner and drives the second push rod 123 to reciprocate linearly along the direction of the second rail 121.
In this embodiment, the second rail 121 is disposed horizontally, and the spare battery compartment 120 is disposed on a horizontal side of the second temporary storage compartment 102, that is, the second power assembly 122 is connected to the second push rod 123 and drives the second push rod 123 to reciprocate horizontally along the second rail 121.
In another embodiment, the second rail 121, the second push rod 123 slidably connected to the second rail 121, and the second power assembly 122 in the second driving device 12 may be alternatively arranged in an oblique direction, and the second power assembly 122 pushes the battery to perform a linear reciprocating motion in the second obliquely arranged rail 121 through the second obliquely arranged push rod 123, as shown in fig. 6.
In another embodiment, two spare battery compartments 120 are respectively disposed at two sides of the second temporary storage compartment 102, as shown in fig. 7. In another embodiment, the number of the spare battery compartments 120 is three or more, and the spare battery compartments are at least partially disposed around the second temporary storage compartment 102, that is, arranged in a fan shape or a circular shape with the second temporary storage compartment 102 as a center. Thus, a plurality of backup batteries can be stored in the base station 1 at the same time, and the number of the backup batteries to be replaced is increased.
In this embodiment, the second variable magnet 124 is an electromagnet, and the grabbing/releasing of the standby battery is realized by switching on/off the circuit of the electromagnet, so that the structure is simple, the cost is low, the grabbing/releasing speed is high, and the working efficiency is improved.
As a further optimization to this embodiment, a recharging calibration device is arranged on the platform to detect whether the sweeping robot 2 is located in the battery replacement station. Specifically, trade being equipped with the concave position that corresponds universal wheel 24 and/or drive wheel 22 and set up on the electric station, recharging calibrating device is including locating on the platform and locate in this concave position, be used for detecting drive wheel 22 and/or universal wheel 24's infrared detection subassembly, when drive wheel 22 and/or universal wheel 24 of robot 2 of sweeping the floor were located concave position, infrared detection subassembly detected promptly that robot 2 of sweeping the floor was in trading the electric station to send the signal to robot 2 of sweeping the floor, robot 2 of sweeping the floor began to get into and trades the battery state.
In another embodiment, the recharging calibration device comprises a pressure sensor arranged in the concave position, and the pressure sensor is used for detecting whether the driving wheel 22 and/or the universal wheel 24 enter the concave position, so as to determine whether the sweeping robot 2 is in the power exchanging position.
As further optimizing this embodiment, be equipped with on the platform and be used for fixing the fixed establishment of electric robot 2 sweeps floor, work as electric robot 2 sweeps floor gets into when trading the electric station, fixed establishment is fixed electric robot 2 sweeps floor, work as electric robot 2 sweeps floor does not get into when trading the electric station, fixed establishment releases electric robot 2 sweeps floor to guarantee to sweep the steadiness of electric robot 2 in trading the battery state, thereby reduce and trade the battery state in the battery state the battery drop not to align influence the possibility of normally trading the battery state.
Specifically, the fixing mechanism comprises a universal wheel 24 locking assembly for locking the universal wheel 24 when the battery compartment 23 of the sweeping robot 2 is aligned with the temporary storage compartment 10, and releasing the universal wheel 24 after the battery replacement is completed.
In another embodiment, the fixing mechanism further comprises a driving wheel 22 locking assembly for locking the driving wheel 22 when the battery compartment 23 of the sweeping robot 2 is aligned with the temporary storage compartment 10 and releasing the driving wheel 22 after the battery replacement is completed. The arrangement of the plurality of fixing mechanisms can further ensure the stability of the floor sweeping robot 2 for being fixed, and the possibility that the normal battery replacement state is influenced due to the fact that the batteries fall out and are not aligned in the battery replacement state is reduced.
The first variable magnet 231 includes at least one electromagnet disposed in the battery compartment 23 or disposed adjacent to the battery compartment 23. In this embodiment, one electromagnet is provided above the battery compartment 23 in the cleaning robot 2. In another embodiment, the number of the electromagnets is four, and the electromagnets are respectively disposed at four corners of the upper end of the battery compartment 23 to provide a stable grabbing/releasing effect.
In this embodiment, a pressure sensor is further disposed on the top of the first push rod 112 for detecting whether the first push rod 112 is loaded with batteries and determining the number of the loaded batteries. When the pressure sensor at the top of the first push rod 112 detects that a battery is loaded on the top of the first push rod 112, the first push rod 112 is driven by the first power assembly 113 to descend and drive the battery into the temporary storage bin 10. When the pressure sensor at the top of the first push rod 112 detects that two batteries are loaded on the top of the first push rod 112, the first push rod 112 is driven by the first power assembly 113 to ascend and push the battery above into the sweeping robot 2.
In this embodiment, the platform is further connected to an inclined plane 14, so that the sweeping robot 2 can enter the platform. Therefore, the sweeping robot 2 can conveniently drive into the platform by itself, and a user does not need to manually lift the sweeping robot 2 to be installed on the platform. In another embodiment, the ramp 14 is arranged to be helically disposed about the platform. To reduce the footprint of the base station 1 and to provide an aesthetic effect, as shown in figure 8.
In this embodiment, the base station 1 further includes a dust collecting device, which includes a negative pressure dust collecting channel 15 disposed in the base station 1 and a dust collecting port 151 disposed on the upper surface of the platform, wherein the dust collecting port 151 is communicated with the negative pressure dust collecting channel 15, and a filter assembly is disposed between the dust collecting port 151 and the negative pressure dust collecting channel 15; the bottom end of the dust box 21 is provided with a dust discharge port 211 for butt joint with the dust suction port 151. Therefore, the cleaning robot 2 can realize the emptying of dust in the dust box 21 in the battery replacement state, and the working efficiency is improved.
In this embodiment, the backup battery compartment 120 is provided with a charging component for charging the battery or the backup battery, and the charging component includes a charging interface for docking with the battery interface when the battery enters the backup battery compartment 120, and enabling the battery to enter a charging state, so that the battery in the backup battery compartment 120 is in a fully charged state before the next battery replacement state of the cleaning robot 2 is started.
Referring to fig. 9, the embodiment of the method for automatically replacing a battery according to the present invention includes the following steps:
and S100, the sweeping robot runs to a power exchanging station of the base station and is in butt joint with the base station, and the temporary storage bin of the base station is aligned with the battery bin of the sweeping robot and enters a battery exchanging state.
Specifically, whether the cleaning robot is in the battery replacement station or not can be detected through an infrared detection assembly or a pressure sensor arranged on the battery replacement station, and a battery replacement state entering instruction of the cleaning robot and the base station is triggered simultaneously.
And S200, releasing the first variable magnet and enabling the battery in the battery bin to fall off, and receiving and containing the battery into the first temporary storage bin by the first driving device.
Specifically, after the floor sweeping robot receives a battery replacement state entering instruction, the first variable magnet is instructed to change magnetism, if the electromagnet is powered off, the first variable magnet is demagnetized, the battery in the battery bin is released, and the battery falls towards the aligned temporary storage bin. And after receiving the battery replacement state entering instruction, the base station receives the dropped battery and takes the battery into the first temporary storage bin.
And S300, the second driving device pushes the standby battery out to the second temporary storage bin, so that the standby battery is stacked above the battery.
Specifically, the first temporary storage compartment and the second temporary storage compartment are vertically arranged and communicated with each other, and the battery can move between the first temporary storage compartment and the second temporary storage compartment.
S400, the first driving device pushes the standby battery into the battery bin and fixes the standby battery through a first variable magnet, and meanwhile, the first driving device loads the battery to a second temporary storage bin.
Specifically, first variable magnet then possesses magnetism like the electro-magnet circular telegram, and magnetic force is set up to can snatch a battery just, thereby snatchs the backup battery and be fixed in the battery compartment of robot of sweeping the floor, and can not snatch two batteries simultaneously to the battery of robot of sweeping the floor is changed. And because the standby battery and the battery are stacked in the temporary storage bin, the first driving device drives the standby battery and the battery to move simultaneously.
And S500, the second driving device grabs the battery through a second variable magnet and stores the battery into the standby battery bin from a second temporary storage bin.
Through changing the magnetism of the second variable magnet, if the electromagnet is electrified, the electromagnet has magnetism so as to grab the battery, then the battery is stored into the standby battery bin from the second temporary storage bin under the driving of the second driving device, and the storage of the replaced battery is completed.
In the embodiment, the first driving device is used for receiving the battery released by the first variable magnet in the sweeping robot and driving the battery to enter the first temporary storage bin; then pushing out the standby battery to the second temporary storage bin through the second driving device, enabling the standby battery to be stacked above the battery, driving the battery and the standby battery to move simultaneously under the driving of the first driving device, pushing the standby battery into the battery bin of the sweeping robot, locking the standby battery in the battery bin through the first variable magnet, and pushing the battery into the second temporary storage bin; and then the second driving device grabs the battery through the second variable magnet and drives the battery to enter the standby battery bin for standby. This scheme is taken in into the step part coincidence synchronization of reserve battery storehouse and with the drive of reserve battery to the battery storehouse with the battery and is gone on, has promoted the efficiency of changing the battery.
Further, the step of receiving the battery from the second temporary storage bin into the standby battery bin by the second driving device further includes the step of:
s600: the first drive means continues to move up to the top of the base station and is ready to accept the next battery. Specifically, in order to prevent the battery from being damaged due to the fact that the falling distance of the battery is too large, the first driving device is driven to be closer to the battery compartment, the falling distance of the battery is reduced, and the risk of battery damage is reduced. In some embodiments, the first drive device may extend into the battery compartment against the battery.
In another embodiment, after the battery is received into the standby battery compartment from the second temporary storage compartment, the method further includes step S601: the battery in the standby battery bin is charged, so that the battery in the standby battery bin is always in a charged state, and the battery can be conveniently replaced next time.
Further, in step S200, the method further includes the following steps:
s201: the first variable magnet releases and causes the battery in the battery compartment to fall.
S202: it is determined whether the first driving device receives the battery. If yes, go on to step S203; if not, go to step S204.
S203, the first driving device receives and stores the battery into the first temporary storage bin.
S204: and stopping the battery replacement state and giving an alarm to remind a user that the battery does not correctly enter the first temporary storage bin, and the battery replacement state is abnormal and needs to be overhauled.
Further, before the sweeping robot travels to a power exchanging station of a base station and is in butt joint with the base station, the method S110 is further included: when the electric quantity of the sweeping robot is lower than a preset low electric quantity threshold value, the sweeping robot communicates with the base station and sends a battery replacement request. Therefore, the stop of the sweeping robot in the cleaning process is avoided.
Specifically, after the sweeping robot communicates with the base station and sends a request for replacing the battery, the method further comprises:
s120: the base station receives the request, inquires the stored information of the standby battery, judges whether the request of replacing the battery is agreed according to the information, and if the request is agreed, the floor sweeping robot drives the base station to enter a battery replacement state and executes S100. If the request is not approved, step S130 is executed.
S130: the sweeping robot enters a standby state.
Specifically, the information of the backup battery includes the following data information: the power, the number of uses, and the health information of the backup battery. When the electric quantity of the standby battery is too low, the base station refuses the request of the cleaning robot for replacing the battery, so that the cleaning robot is prevented from continuously executing a repeated battery replacing state after the battery is replaced, and unnecessary loss of the battery is avoided. And when the using times of the backup battery exceed the battery design requirement and the health degree information of the backup battery is not enough to support the backup battery to continue supplying power, the base station also refuses the request of replacing the battery of the cleaning robot.
Further, if the base station does not agree with the request, the following strategies are executed before the sweeping robot enters the standby state:
s121: and searching for a nearby charging seat, judging according to the searching result, executing the step S122 if the nearby charging seat is searched, and executing the step S130 if the nearby charging seat is not searched, so that the sweeping robot enters a standby state.
And S122, if the nearby charging seat is searched, planning and executing a path from the vehicle to the charging seat, and entering a charging state. In order to avoid the halt of the sweeping robot, the sweeping robot searches a nearby charging seat for seat charging.
In another embodiment, if the base station does not agree with the request, the following policy is executed before the sweeping robot enters the standby state:
s123: searching nearby base stations, judging according to the searching result, and executing step S124 if the nearby base stations are searched; if no nearby base station is found, step S130 is executed to enter a standby state.
S124: planning and executing a path to the base station, and executing step S110: the sweeping robot communicates with the base station and sends a battery replacement request. Therefore, after the base station refuses the request of replacing the battery of the sweeping robot, in order to avoid the shutdown of the sweeping robot, the sweeping robot searches other base stations to replace the battery.
Further, when the sweeping robot travels to the battery replacement station, the step S101 is executed: detecting whether a universal wheel and/or a driving wheel of the sweeping robot are/is in a preset position in the power exchanging station, and respectively executing the steps S102 and S103 according to the detection result.
S102: if yes, fixing the universal wheel and/or the driving wheel.
S103: and if not, ending the process, and not fixing the universal wheel and/or the driving wheel.
The cleaning robot can conveniently and correctly drive into the battery replacement station, and the stable battery replacement state is ensured.
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 (26)
1. A cleaning system, comprising:
self-movable sweeping robot, comprising: the sweeping robot comprises a driving wheel, a universal wheel, a dust box and a battery bin, wherein the driving wheel is used for driving the sweeping robot to move, the universal wheel is used for controlling the traveling direction of the sweeping robot, the dust box is used for storing dust, the battery bin is used for accommodating a battery, and the battery bin is provided with a first variable magnet used for grabbing or releasing the battery;
a base station, comprising:
at least one spare battery compartment for accommodating a spare battery;
a temporary storage bin for temporarily storing the battery or the standby battery;
the first driving device is used for pushing the standby battery in the temporary storage bin into the battery bin, receiving the battery released by the first variable magnet in the battery bin and storing the battery into the temporary storage bin;
and the second driving device comprises a second variable electromagnet used for grabbing or releasing the standby battery, and is used for pushing the standby battery out of the standby battery bin and containing the battery in the temporary storage bin into the standby battery bin.
2. The cleaning system of claim 1, wherein: the utility model discloses a robot that cleans floor, including basic station, base station, battery compartment, temporary storage bin, drive arrangement, first drive arrangement, battery compartment, base station top is equipped with and is used for placing the platform of the robot that cleans floor, the battery compartment is located clean the robot bottom of the robot that cleans floor, be equipped with on the platform and be used for supplying the robot that cleans floor to get into the trade electric station of trading the battery state, work as the robot that cleans floor is located when trading on the electric station, the temporary storage bin corresponds the battery compartment, the temporary storage bin includes along vertical direction by supreme first temporary storage bin and the second temporary storage bin that sets gradually down, first temporary storage bin with the second temporary storage bin communicates each other, works as first variable magnet release behind the battery in the battery compartment, the battery drops to quilt first drive arrangement receives and is accomodate and get into the second temporary storage bin.
3. The cleaning system of claim 2, wherein: the first driving device is arranged below the first temporary storage bin and comprises a first rail arranged in the vertical direction, a first push rod connected with the first rail in a sliding mode and a first power assembly, and the first power assembly is connected with the first push rod in a driving mode and drives the first push rod to do linear reciprocating motion in the direction of the first rail.
4. The cleaning system of claim 2, wherein: the second driving device is arranged on one side of the second temporary storage bin and comprises a second rail, a second push rod and a second power assembly, the second push rod is connected with the second rail in a sliding mode, the second push rod is provided with the second variable magnet, and the second power assembly is connected with the second push rod in a driving mode and drives the second push rod to do linear reciprocating motion along the direction of the second rail.
5. The cleaning system of claim 5, wherein: the spare battery bins are at least two and are arranged to at least partially surround the second temporary storage bin.
6. The cleaning system of claim 4, wherein: the second variable magnet is an electromagnet.
7. The cleaning system of claim 2, wherein: and a recharging calibration device is arranged on the platform and used for detecting whether the sweeping robot is positioned at the battery replacement station or not.
8. The cleaning system of claim 7, wherein: the recharging calibration device comprises an infrared detection assembly which is arranged on the platform and used for detecting the driving wheel and/or the universal wheel.
9. The cleaning system of claim 8, wherein: be equipped with on the platform and be used for fixing the fixed establishment of robot sweeps floor, work as the robot of sweeping floor gets into when trading the electric station, fixed establishment is fixed the robot of sweeping floor, work as the robot of sweeping floor does not get into when trading the electric station, fixed establishment releases the robot of sweeping floor.
10. The cleaning system of claim 9, wherein: the fixing mechanism comprises a universal wheel locking assembly used for locking the universal wheel when the battery bin of the sweeping robot is aligned with the temporary storage bin and releasing the universal wheel after the battery is replaced.
11. The cleaning system of claim 2, wherein: the first variable magnet comprises at least one electromagnet arranged in the battery compartment or close to the battery compartment.
12. The cleaning system of claim 11, wherein: the electromagnets comprise four electromagnets which are respectively arranged at four corners of the upper end of the battery bin.
13. The cleaning system of claim 2, wherein: the top of the first push rod is also provided with a pressure sensor used for detecting whether the first push rod is loaded with batteries or not and judging the number of the loaded batteries.
14. The cleaning system of claim 2, wherein: the platform is also connected with an inclined plane for the sweeping robot to enter the platform.
15. The cleaning system of claim 14, wherein: the base station also comprises a dust collecting device which comprises a negative pressure dust collecting channel arranged in the base station and a dust collecting port arranged on the upper surface of the platform, wherein the dust collecting port is communicated with the negative pressure dust collecting channel, and a filter assembly is arranged between the dust collecting port and the negative pressure dust collecting channel; and a dust discharge port which is used for being in butt joint with the dust suction port is arranged at the bottom end of the dust box.
16. The cleaning system of claim 2, wherein: the standby battery bin is internally provided with a charging assembly used for charging the battery or the standby battery, and the charging assembly comprises a charging interface which is used for being butted with the battery interface when the battery enters the standby battery bin and enabling the battery to enter a charging state.
17. The method for automatically replacing the battery is characterized by comprising the following steps:
the sweeping robot runs to a battery replacing station of a base station and is in butt joint with the base station, and a temporary storage bin of the base station is aligned with a battery bin of the sweeping robot and enters a battery replacing state;
the first variable magnet releases and enables the battery in the battery compartment to fall off, and the first driving device receives and stores the battery into the first temporary storage compartment;
the second driving device pushes the standby battery out to the second temporary storage bin, so that the standby battery is stacked above the battery;
the first driving device pushes the spare battery into the battery compartment and fixes the spare battery through a first variable magnet, and meanwhile, the first driving device loads the battery to a second temporary storage compartment;
the second driving device grabs the battery through the second variable magnet and stores the battery into the standby battery compartment from the second temporary storage compartment.
18. The method for automatically replacing a battery according to claim 17, wherein the step of receiving the battery from the second temporary storage into the spare battery compartment by the second driving device further comprises the steps of:
the first drive means continues to move up to the top of the base station and is ready to accept the next battery.
19. The method for automatically replacing a battery according to claim 17, wherein after the step of releasing the first variable magnet and dropping the battery in the battery compartment, further comprising the step of:
and judging whether the first driving device receives the battery or not, if so, receiving and storing the battery by the first driving device into the first temporary storage bin, otherwise, stopping the battery replacement state and sending an alarm.
20. The method for automatically replacing the battery according to claim 17, wherein before the step of driving the sweeping robot to a battery replacement station of a base station and docking with the base station, the method further comprises the following steps: the sweeping robot communicates with the base station and sends a battery replacement request.
21. The automatic battery replacement method of claim 20, wherein after the sweeping robot communicates with the base station and sends a battery replacement request, further comprising the method of:
the base station receives the request, inquires the stored information of the standby battery, judges whether the request of replacing the battery is agreed according to the information, if the request is agreed, the sweeping robot drives to the base station to enter a battery replacement state, and if the request is not agreed, the sweeping robot enters a standby state.
22. The automatic battery replacement method according to claim 21, wherein the information of the backup battery includes at least one of the following data information: the amount of electricity, the number of uses, or the health information of the backup battery.
23. The method for automatically replacing a battery according to claim 21, wherein if the base station does not agree with the request, the sweeping robot executes the following policy before entering the standby state:
searching nearby charging seats, planning and executing a path from the charging seat to the charging seat, and entering a charging state;
and if the nearby charging seat cannot be searched, the sweeping robot enters a standby state.
24. The method for automatically replacing a battery according to claim 21, wherein if the base station does not agree with the request, the sweeping robot executes the following policy before entering the standby state:
searching other nearby base stations, planning and executing paths from the base stations to the other base stations, and entering a battery replacement state;
and if no other nearby base station is searched, the sweeping robot enters a standby state.
25. The automatic battery replacement method according to claim 17, wherein when the cleaning robot travels to the battery replacement station, whether the universal wheels and/or the driving wheels of the cleaning robot are/is detected to be at a preset position in the battery replacement station, and if so, the universal wheels and/or the driving wheels are fixed.
26. The automatic battery replacement method according to claim 17, further comprising, after the battery is received from the second temporary storage compartment into the spare battery compartment, the steps of: and charging the battery in the spare battery bin.
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| CN202110602619.XA CN113261881B (en) | 2021-05-31 | 2021-05-31 | Automatic battery replacement method |
| CN202210576225.6A CN115413960A (en) | 2021-05-31 | 2021-05-31 | Cleaning system |
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| CN202110602619.XA CN113261881B (en) | 2021-05-31 | 2021-05-31 | Automatic battery replacement method |
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Cited By (1)
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| CN115413960A (en) | 2022-12-02 |
| CN113261881B (en) | 2022-08-16 |
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