CN113729583A - Method, system and equipment for supplying floor washing machine - Google Patents
Method, system and equipment for supplying floor washing machine Download PDFInfo
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- CN113729583A CN113729583A CN202111129831.5A CN202111129831A CN113729583A CN 113729583 A CN113729583 A CN 113729583A CN 202111129831 A CN202111129831 A CN 202111129831A CN 113729583 A CN113729583 A CN 113729583A
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- 238000000034 method Methods 0.000 title claims abstract description 51
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- 238000004140 cleaning Methods 0.000 claims abstract description 53
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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
- A47L11/28—Floor-scrubbing 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/06—Energy or water supply
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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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/026—Refilling cleaning liquid containers
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention provides a multi-machine multi-station floor washing machine supply method, a multi-machine multi-station floor washing machine supply system and multi-machine multi-station floor washing machine supply equipment, wherein the method comprises the following steps: stopping the operation of the floor cleaning machine to be replenished, sending a replenishment request and operation information to a server, wherein the operation information comprises the current operation position of the floor cleaning machine, and marking the current operation position as an operation breakpoint position; after the server receives a supply request of a floor washing machine to be supplied, the server inquires state information of a supply station; the server distributes a target replenishment station to the floor washing machine to be replenished according to the replenishment request, the operation information and the state information; navigating a floor washing machine to be supplied to a target supply station for butt joint supply; and after the supplied floor washing machine finishes the supply, sending the information of the completion of the supply to the server, and navigating to return to the position of the operation breakpoint to continue the operation. The floor cleaning machines are sequentially supplied according to the pre-planned supply logic, so that a large number of floor cleaning machines can be supplied through a small number of supply stations, the number of expensive supply stations is reduced, and the work of on-site water distribution, power distribution and the like is also reduced.
Description
Technical Field
The invention relates to the technical field of floor washers, in particular to a supply method, a supply system and supply equipment of a floor washer.
Background
Along with the increasing ground areas of places such as exhibition centers, airports, high-speed rail stations, parking lots and the like, the workload of cleaning the places is increased, and the cleaning is difficult due to the aging of the population, so that the floor cleaning machine is widely applied. The area of some places is larger, and one or two sets of floor washers cannot meet the cleaning requirement, so a plurality of sets of floor washers are adopted in many projects. The common scheme is that the places such as a convention center, an airport, a high-speed rail station and a parking lot are divided into a plurality of areas, 1 floor cleaning machine is distributed in each area, one supply station is distributed to each floor cleaning machine, and the whole-flow floor cleaning machine needs to change water or charge to the corresponding supply station for water change or charge in operation.
Because the full-flow floor washing machine works in the ground washing process most of the time, and the water changing and charging are carried out in a small part of the time, the scheme of one machine for one station leads each supply station to be idle at least for half of the time. Because the cost of the supply stations is high, each supply station needs to independently distribute power and install a water pipe, and resources are wasted because each floor washing machine is provided with one supply station. And when the supply station fails, the corresponding full-flow floor washing machine cannot be automatically supplied and is forced to stop floor washing operation.
Disclosure of Invention
In view of the above, the present invention provides a method, system and apparatus for recharging a multi-machine multi-station scrubber to overcome the above-mentioned drawbacks of the prior art.
Specifically, the multi-machine multi-station floor washing machine supply method comprises the following steps:
stopping the operation of the floor cleaning machine to be replenished, sending a replenishment request and operation information to a server, wherein the operation information comprises the current operation position of the floor cleaning machine, and marking the current operation position as an operation breakpoint position;
after the server receives the replenishment request of the floor washing machine to be replenished, the server inquires the state information of the replenishment station;
the server distributes a target replenishment station to the floor washing machine to be replenished according to the replenishment request, the operation information and the state information;
the floor washing machine to be replenished navigates to the target replenishing station for butt joint replenishment;
and after the floor washing machine to be replenished finishes replenishment, sending replenishment completion information to the server, and navigating and returning to the position of the operation breakpoint to continue operation.
Further, the replenishment request comprises a water change request; the server inquires the state of the replenishment station, including inquiring the state information of the replenishment station closest to the floor washing machine to be replenished; the replenishment request further comprises a charging request; the operation information also comprises the task completion degree of the floor washing machine; the server querying the status of the replenishment stations includes querying status information for all of the replenishment stations.
The supply station inquired by the server is in a fault state, and the server inquires the state information of other supply stations again;
the "the server allocates a target replenishment station according to the replenishment request, the job information, and the status information" includes: the server acquires position information of a supply station in an idle state, a water changing state and a charging state, wherein the supply station closest to the scrubber to be supplied is the target supply station; or the replenishment station inquired by the server is in an idle state, a water changing state or a charging state, and the replenishment station inquired by the server is the target replenishment station.
The step of navigating the scrubber to be replenished to the target replenishment station for butt replenishment comprises the following steps:
the target replenishment station is in an idle state, and the server sends an instruction to enable the floor washing machine to be replenished to butt joint the target replenishment station for replenishment; or the target replenishment station is in a water change state, the server sends an instruction to enable the floor cleaning machine to be replenished to be close to the target replenishment station for waiting for replenishment, and after the floor cleaning machine in replenishment finishes water change, the server sends an instruction to enable the floor cleaning machine to be replenished to be in butt joint replenishment; or the server inquires the state of the replenishment station as the charging state, the server sends an instruction to enable the ground washing machine in the replenishment of the target replenishment station to suspend charging, and then sends an instruction to enable the ground washing machine to be replenished to be in butt joint replenishment.
In some embodiments, after receiving the replenishment request of the scrubber to be replenished, the server further includes calculating an amount of electricity required by the scrubber to be replenished to complete the current task; and the server inquires the state of the replenishment station and inquires the state information of all the replenishment stations.
The server acquires that a plurality of supply stations are in an idle state, wherein the supply station closest to the floor washing machine to be supplied is the target supply station; or the server acquires that one replenishment station is in an idle state, and the replenishment station in the idle state is the target replenishment station; or the server acquires that all the supply stations are in a water changing state or a charging state, and acquires the position information of the supply stations in the water changing state, wherein the supply station closest to the ground washer to be supplied is the target supply station; or the server acquires that all the supply stations are in a charging state, acquires the current electric quantity of the charged floor washing machine and the required electric quantity, and calculates the supply time required by the sufficient electric quantity of the charged floor washing machine, wherein the supply station with the shortest supply time is distributed as the target supply station.
The step of navigating the scrubber to be replenished to the target replenishment station for butt replenishment comprises the following steps:
the target replenishment station is in an idle state, and the server sends an instruction to enable the floor washing machine to be replenished to butt joint the target replenishment station for replenishment; or, the target replenishment station is in a water changing state or a charging state, the server sends an instruction to enable the floor cleaning machine to be replenished to wait for replenishment at the target replenishment station, and after the floor cleaning machine in replenishment completes replenishment, the server sends a replenishment instruction to enable the floor cleaning machine to be replenished to be in butt joint replenishment.
After the scrubber machine butt joint supply of waiting to supply, still include: in the butt joint supply process of the floor washing machine to be supplied, sending the current electric quantity to the server once every a preset time period; the server judges whether the current electric quantity is larger than the required electric quantity or not, and if the judgment result is yes, the server determines that the floor washing machine to be replenished completes replenishment; if the judgment result is no, no processing is carried out.
The invention also provides a multi-machine multi-station floor washing machine supply system, which is used for executing the multi-machine multi-station floor washing machine supply method and comprises the following steps:
a receiving module: the system is used for receiving the supply requests and the operation information of all the floor washers and the state information of all the supply stations;
a distribution module: the system comprises a control center, a control center and a control center, wherein the control center is used for controlling the supply of the washing machine to the target supply station;
and, the control module: and the control module is used for sending instructions to control the floor washing machine to be replenished to be butted and replenished.
A computer device, the computer device comprising: one or more processors; a memory for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the machine washing replenishment method described above.
In conclusion, the multi-machine multi-station floor washing machine supply method, the multi-machine multi-station floor washing machine supply system and the multi-machine multi-station floor washing machine supply equipment have the following beneficial effects: orderly sharing and supplying of floor washers: when an idle supply station exists, the full-flow floor washing machine changes water and charges nearby; when no idle supply station exists, the full-flow floor washing machine during charging can change water through the full-flow floor washing machine during water change; all the supply stations need to charge or change the water when in supply to line up and supply behind the washing machine which is changing water; when all the supply stations are in charging, the server calculates the queuing charging near the supply station which is charged with the earliest enough operation electric quantity. The supply of a large number of floor washers can be realized through a small number of supply stations through the ordered supply logic, so that the number of supply stations with high price is reduced, and the work of on-site water distribution, power distribution and the like is also reduced. Compared with an independent mode of one machine and one station, when one supply station has a fault, the floor cleaning machine can go to other supply stations to finish automatic supply, and the problem that the corresponding floor cleaning machine cannot be supplied to stop working due to the fault of the supply station, so that a large area cannot be cleaned in time is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a multi-machine multi-station machine scrubber replenishment method of the present invention;
FIG. 2a is a flow chart of the scrubber of the present invention with respect to changing water;
FIG. 2b is a flow chart of another aspect of the scrubber of the present invention for exchanging water;
FIG. 2c is a flow chart of yet another aspect of the scrubber of the present invention for exchanging water;
FIG. 3a is a flow chart of the invention for a scrubber docking charge;
FIG. 3b is a flow chart of another aspect of the invention for docking charging a scrubber;
FIG. 4 is a schematic diagram of the construction of the multiple-unit multiple-station scrubber management system of the present invention;
FIG. 5 is a schematic diagram of a multi-machine multi-station scrubber management method of the present invention applied to a computer installation.
Reference numerals:
1-a receiving module; 2-a distribution module; 21-a distance calculation unit; 22-a supplementary power amount calculation unit; 23-replenishment time calculation unit; 3-a control module; 4-a computer device; 41-a processor; 42-a memory; 102-a bus; 5-external device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention provides a multi-machine multi-station full-flow floor washing machine supply method and a multi-machine multi-station full-flow floor washing machine supply system, which are used for avoiding resource waste of a supply station. Wherein the number of scrubber is greater than the number of supply stations.
The multi-machine multi-station floor washing machine supply method and the system are used for managing the floor washing machines capable of reporting the operation information and the supply request and the supply stations capable of autonomously diagnosing the fault state and the supply state and reporting the autonomously diagnosed state.
Specifically, the operation information of the floor washing machine comprises operation position information, an operation state and a task completion degree, and the replenishment request comprises a water changing request and a charging request; the supply station automatically diagnoses a fault state and a supply state through the main control panel, and the states of the supply station comprise a charging state, a water changing state, an idle state and a fault state. The floor washing machine and the supply station are both provided with communication modules for reporting the information and receiving the information sent by the server, and the communication modules are internet of things modules, specifically can be 4G modules, WIFI modules, LoRa modules, Zigbee modules and the like. And sending a charging request when the electric quantity of the floor washing machine is lower than the preset electric quantity, and sending a water changing request when a clear water tank of the floor washing machine is empty or a sewage tank of the floor washing machine is full.
The scrubber and the supply station are provided with a plurality of groups of corresponding devices for realizing butt joint, charging connection, water changing operation and the like. Specifically, an identification code is correspondingly arranged in front of the replenishment station, scanning equipment is installed on the floor washing machine, and the scanning equipment is used for scanning the identification code corresponding to the replenishment station to perform identification and positioning to complete butt joint. In a specific embodiment, the identification code is a two-dimensional code and the scanning device is a depth camera.
The communication electrode brush piece, the communication electrode brush block and the limit switch are respectively arranged on the floor washing machine mounting station and the supply station, for example, the communication electrode brush piece is arranged on the floor washing machine, and the communication electrode brush block and the limit switch are arranged on the supply station. And stopping retreating after triggering a limit switch in the butt joint process of the floor washing machine and the supply station, establishing communication and completing butt joint when the limit switch is triggered and the communication electrodes of the floor washing machine and the supply station are in good contact and have certain pretightening force, and otherwise, re-butt joint is required when the butt joint fails. The floor cleaning machine is provided with a positive charging electrode brush piece and a negative charging electrode brush piece, the charging electrode brush piece is connected to the battery pack, the supply station is provided with a positive charging electrode brush block and a negative charging electrode brush block, the charging electrode brush blocks are connected to the charger, and the charging electrode brush piece and the charging electrode brush blocks have larger pretightening force after the butt joint is completed to ensure that the electrodes are in good contact.
The supply station is provided with a water injection pipe and an electromagnetic valve for controlling the adding of clear water, and the floor washing machine is provided with a clear water receiving device for receiving the added clear water after being butted. The supply station is provided with a sewage tank, and an opening is arranged on the sewage tank and used for receiving sewage of the floor washing machine. The sewage tank is connected to the sewage channel through a sewage discharge pipe. When the floor washing machine is used for exchanging water, the operations of adding clear water and discharging pollution are carried out simultaneously. In some embodiments, the scrubber is recharged while docking and changing water once.
Those skilled in the art will appreciate that the duration of time required for a fully charged level of the scrubber to meet a charging requirement is longer than the duration of a water change, and that the duration of time required for a next operable level of the scrubber to meet a charging requirement is longer than the duration of time required for a next operable level of the scrubber to meet a water change requirement.
The multi-machine multi-station floor washing machine supply method and the system can be applied to the supply of the floor washing machines in places such as parking lots, airports, high-speed railway stations, convention and exhibition centers and the like.
Example 1
The embodiment provides a specific example of the application of the multi-machine multi-station floor washing machine replenishment method. The present embodiment exemplifies an underground parking lot as a cleaning object.
In a specific embodiment, a plurality of supply stations are uniformly distributed in an underground parking lot, the floor washing machine and the supply stations are provided with 4G communication modules, the positions of the supply stations are marked on a map stored by a server, and the floor washing machine can be navigated to the position of a target supply station through a laser radar.
The preset electric quantity required to be charged by the floor cleaning machine is set to be 10%, and the floor cleaning machine is fully charged and continuously operates for 10 hours, so that the electric quantity is consumed to 10% and needs to be charged again. The water needs to be changed when the clean water tank of the floor washing machine is empty or the sewage tank is full, and the clean water is consumed or the sewage needs to be changed again when the continuous operation is carried out for 1 hour after the water is changed. The electric quantity of the floor washing machine is 6 hours from 10 percent to full charge, and the floor washing machine takes 5 minutes after completing one water change. It will be appreciated that the scrubber may be different, and in other embodiments the time consumed for charging and changing the scrubber may be different from the scrubber described above, but the method of recharging a scrubber with multiple machines and stations as provided in this embodiment may also be used.
Referring to the attached figure 1, the invention provides a flow chart of a multi-machine multi-station floor washing machine supply method.
Taking the water change requirement generated by the scrubber as an example, the multi-machine multi-station scrubber replenishment method of the embodiment includes:
s1: and stopping the operation of the floor washing machine to be replenished, and sending a replenishment request and operation information to the server.
The method specifically comprises the steps of stopping operation of the floor washing machine which becomes a floor washing machine to be replenished after a clear water tank of the floor washing machine is empty or a sewage tank is full, sending a water changing request and a current operation position to a server, and marking the current operation position as an operation breakpoint position. In some embodiments, the server may be a cloud server.
S2: after the server receives the supply request of the floor washing machine to be supplied, the server inquires the state information of the supply station.
The server receives a water change request of the floor washing machine and inquires the state information of a supply station nearest to the floor washing machine to be supplied.
S3: and the server distributes a target replenishment station to the floor washing machine to be replenished according to the replenishment request, the operation information and the state information.
And judging whether the inquired replenishment station is in a fault state, and if not, judging that the replenishment station inquired by the distribution server is the target replenishment station.
And if the judgment result is yes, inquiring the states of other supply stations. Then, the server acquires the position information of the supply stations in the idle state, the water change state and the charging state, and allocates the supply station closest to the scrubber to be supplied as a target supply station.
S4: and navigating the floor washing machine to be replenished to a target replenishing station for butt joint replenishment.
After the floor cleaning machine navigates to the target supply station, the server sends different instructions to control the floor cleaning machine to be supplied according to different states of the target supply station. In particular, the amount of the solvent to be used,
referring to FIG. 2a of the specification, when the target replenishment station is in an idle state, the method includes:
a411: and the server sends an instruction to the floor washing machine to be supplied to navigate to the target supply station for water change.
A412: and after receiving the instruction of the server, the floor washing machine to be supplied navigates to the target supply station to complete butt joint and water changing.
Referring to fig. 2b of the specification, when the target replenishment station is in the water change state, the method comprises the following steps:
a421: the server sends an instruction to the floor washing machine to be replenished to navigate to the position near the target replenishment station to wait for replenishment.
A422: and after receiving the instruction of the server, the ground washer to be replenished navigates to the vicinity of the target replenishment station to wait for replenishment.
A423: and the server receives the information of the completion of the supply of the previous floor washing machine and sends an instruction to ensure that the floor washing machine to be supplied is in butt joint with the supply.
A424: and after receiving the instruction, the floor washing machine to be supplied navigates to the position of the supply station and finishes butt joint to change water.
Referring to FIG. 2c of the specification, when the destination replenishment station is in a charging state, the method includes:
a431: the server sends instructions to the scrubber being charged to suspend charging and disengage from the replenishment station, and then navigates to a location near the replenishment station to wait.
A432: and the server sends an instruction to the floor washing machine to be supplied to navigate to the target supply station for water change.
A433: and after receiving the instruction of the server, the floor washing machine to be supplied navigates to the target supply station to complete butt joint and water changing.
A434: and after the supplemented floor cleaning machine finishes water changing, the server sends an instruction to continue charging the floor cleaning machine which is suspended from charging.
A435: and after receiving the instruction, the floor washing machine suspending charging navigates to the position of the supply station and completes docking for charging.
S5: and after the supplied floor washing machine finishes the supply, sending the information of the completion of the supply to the server, and navigating to return to the position of the operation breakpoint to continue the operation. And the operation breakpoint position is a current operation position sent to the server when the floor washing machine stops operating.
Taking the charging requirement of the scrubber as an example, the method for replenishing the scrubber in multiple machines and multiple stations in the embodiment comprises the following steps:
s1: and stopping the operation of the floor washing machine to be replenished, and sending a replenishment request and operation information to the server.
And after the electric quantity of the floor cleaning machine is lower than the preset electric quantity, the floor cleaning machine becomes the floor cleaning machine to be replenished, the operation is stopped, a charging request, the current operation position information and the task completion degree are sent to the server, and the current operation position is marked as the operation breakpoint position.
Further comprising: and calculating the required electric quantity of the floor cleaning machine to be replenished for completing the current task according to the task completion degree of the floor cleaning machine to be replenished.
S2: after the server receives the supply request of the floor washing machine to be supplied, the server inquires the state information of the supply station.
And the server receives a charging request of the scrubber and inquires the current states of all the supply stations.
S3: and the server distributes a target replenishment station to the floor washing machine to be replenished according to the replenishment request, the operation information and the state information.
If the server acquires that the plurality of supply stations are in an idle state, the supply station closest to the floor cleaning machine to be supplied is allocated as a target supply station; and if the server acquires that one supply station is in an idle state, allocating the supply station as a target supply station.
And if the server acquires that no idle supply station exists, all available supply stations are in a water change state or a charging state, acquiring the position information of the supply stations in the water change state, and allocating the supply station closest to the scrubber to be supplied as the target supply station.
And if the server acquires that no idle supply station exists, all available supply stations are in a charging state, the server acquires the current electric quantity and the required electric quantity of the charged floor washing machine, calculates the supply time required by the sufficient electric quantity of the charged floor washing machine, and allocates the supply station with the shortest supply time as the target supply station.
S4: and navigating the floor washing machine to be replenished to a target replenishing station for butt joint replenishment.
After the floor cleaning machine navigates to the target supply station, the server sends different instructions to control the floor cleaning machine to be supplied according to different states of the target supply station. In particular, the amount of the solvent to be used,
referring to FIG. 3a of the specification, when the target replenishment station is in an idle state, the method includes:
b411: the server sends an instruction to navigate the scrubber to be replenished to a target replenishment station for charging.
B412: and after receiving the instruction of the server, the floor washing machine to be supplied navigates to the target supply station to complete butt joint for charging.
B413: the current electric quantity is sent to the server once every a preset time period in the process of butt joint and charging of the scrubber; in this embodiment, the preset time period is one minute, that is, the scrubber sends the current electric quantity to the server once every one minute.
B414: the server judges whether the current electric quantity is larger than the required electric quantity or not, and if the judgment result is yes, the fact that the floor cleaning machine to be replenished completes replenishing is determined; if the judgment result is no, no processing is carried out.
Referring to fig. 3b of the specification, when the target replenishment station is in the water change state or the charging state, the method comprises the following steps:
b421: the server sends an instruction to the floor washing machine to be replenished to navigate to the position near the target replenishment station to wait for replenishment.
B422: and after receiving the instruction of the server, the ground washer to be replenished navigates to the vicinity of the target replenishment station to wait for replenishment.
B423: and the server receives the information of the completion of the supply of the previous floor washing machine and sends an instruction to ensure that the floor washing machine to be supplied is in butt joint with the supply.
Specifically, if the target replenishment station is in a water change state, after the server receives the information that the water change of the floor washing machine in the water change is completed, an instruction is sent to enable the floor washing machine to be replenished to be in butt joint charging; and if the target supply station is in a charging state, after the server receives the information that the charging of the floor cleaning machine in the charging process is finished, sending an instruction to enable the floor cleaning machine to be supplied to be in butt joint charging.
B424: and after receiving the instruction, the floor washing machine to be supplied navigates to the position of the target supply station and completes butt joint for charging.
B425: the current electric quantity is sent to the server once every a preset time period in the process of butt joint and charging of the scrubber; in this embodiment, the preset time period is one minute, that is, the scrubber sends the current electric quantity to the server once every one minute.
B426: the server judges whether the current electric quantity is larger than the required electric quantity or not, and if the judgment result is yes, the fact that the floor cleaning machine to be replenished completes replenishing is determined; if the judgment result is no, no processing is carried out.
S5: and after the supplied floor washing machine finishes the supply, sending the information of the completion of the supply to the server, and navigating to return to the position of the operation breakpoint to continue the operation. And the operation breakpoint position is a current operation position sent to the server when the floor washing machine stops operating.
The server described in this embodiment is a local control box, and the server can be applied in a form that a networking mode or a controller can be replaced.
The method for replenishing the floor washing machine with multiple machines and multiple stations manages the whole place as a management object. By applying the same method as the present invention, it is also possible to divide a place into a plurality of areas and manage each area individually as one management object.
Example 2
The embodiment provides a washing machine replenishing system which applies the multi-machine multi-station washing machine replenishing method provided by the embodiment 1.
Referring to the description of FIG. 4, a scrubber make-up system includes:
the receiving module 1: for receiving replenishment requests, job information for all of the scrubber machines, and status information for all of the replenishment stations.
The distribution module 2: and the system is used for distributing the target replenishment station to the washing machine to be replenished according to the replenishment request, the operation information and the state information.
The distribution module 2 comprises a plurality of calculation units for calculating influence factors of a target supply station distributed to the floor cleaning machine to be supplied according to the supply request and the operation information of the server and the state information and the position information of the floor cleaning machine to be supplied, and the influence factors are used for the server to analyze. The method specifically comprises the following steps:
distance calculation unit 21: calculating the distance according to the positions of the supply station and the floor washing machine;
the replenishment electric power amount calculation unit 22: calculating the required electric quantity of the floor washing machine to be supplied;
replenishment time calculation unit 23: and calculating the replenishment time required by the sufficient electric quantity of the floor washing machine in the charging process.
The control module 3: the control system is used for sending instructions to control the butting supply of the floor washing machine to be supplied.
The method specifically comprises the following steps: when water change is needed in the floor washing operation of the floor washing machine, the water is changed to the nearest available supply station.
During the full-flow floor washing operation, the nearest idle supply station needs to be charged when charging is needed. If no supply station is available, the charging is waited near the supply station which is in the nearest water changing state, or the charging is waited near the supply station where the floor washing machine which is firstly charged with the required electric quantity is located.
The specific control flow of the control module is the same as that in embodiment 1, and is not described herein.
Example 3
Referring to fig. 5 in the specification, a schematic structural diagram of a computer device provided in this embodiment is shown. The computer device 4 shown in fig. 5 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the computer device is in the form of a general purpose computing device. Components of the computer device may include, but are not limited to: one or more processors 41 or processing units, a system memory 42, and a bus 102 that couples various system components including the system memory 42 and the processing units. Computer device 4 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by the device computer and includes both volatile and nonvolatile media, removable and non-removable media. The system memory may include computer system readable media in the form of volatile memory.
The computer device may also communicate with one or more external devices 5 (e.g., keyboard, pointing device, display, etc.), with one or more devices that enable a user to interact with the computer device 4, and/or with any devices that enable the computer device 4 to communicate with one or more other computing devices.
The processing unit executes various functional applications and data processing by executing programs stored in the system memory 42, for example, implementing a method for supplying a scrubber supply as provided in embodiment 1 of the present invention, the method including:
s1: and stopping the operation of the floor washing machine to be replenished, and sending a replenishment request and operation information to the server. S2: after the server receives a supply request of the floor washing machine to be supplied, the server inquires the state of the supply station. S3: and the server analyzes and distributes a target supply station to the floor washing machine to be supplied. S4: and navigating the floor washing machine to be replenished to a target replenishing station for butt joint replenishment. S5: and after the supplied floor washing machine finishes the supply, sending the information of the completion of the supply to the server, and navigating to return to the position of the operation breakpoint to continue the operation.
In summary, the method, the system and the equipment for supplying the multi-machine multi-station floor washing machine provided by the invention plan a set of orderly shared supply method: when an idle supply station exists, the full-flow floor washing machine changes water and charges nearby; when no idle supply station exists, the full-flow floor washing machine during charging can change water through the full-flow floor washing machine during water change; all the supply stations need to charge or change the water when in supply to line up and supply behind the washing machine which is changing water; when all the supply stations are in charging, the server calculates the queuing charging near the supply station which is charged with the earliest enough operation electric quantity. The supply of a large number of floor washers can be realized through a small number of supply stations through the ordered supply logic, so that the number of the supply stations with high price is reduced, the work of on-site water distribution, power distribution and the like is also reduced, and the resource waste is reduced. Compared with an independent mode of one machine and one station, when one supply station has a fault, the floor cleaning machine can go to other supply stations to finish automatic supply, and the problem that a large area cannot be cleaned in time due to the fact that the corresponding floor cleaning machine stops working due to the fault of the supply station is avoided.
The above-mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and various modifications other than the above-mentioned embodiments may be made, and the technical features of the above-mentioned embodiments may be combined with each other, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multi-machine multi-station floor washing machine supply method is characterized by comprising the following steps:
stopping the operation of the floor cleaning machine to be replenished, sending a replenishment request and operation information to a server, wherein the operation information comprises the current operation position of the floor cleaning machine, and marking the current operation position as an operation breakpoint position;
after the server receives the replenishment request of the floor washing machine to be replenished, the server inquires the state information of the replenishment station;
the server distributes a target replenishment station to the floor washing machine to be replenished according to the replenishment request, the operation information and the state information;
the floor washing machine to be replenished navigates to the target replenishing station for butt joint replenishment;
and after the floor washing machine to be replenished finishes replenishment, sending replenishment completion information to the server, and navigating and returning to the position of the operation breakpoint to continue operation.
2. The machine washing machine replenishment method of claim 1,
the replenishment request comprises a water change request;
the server inquires the state of the replenishment station, including inquiring the state information of the replenishment station closest to the floor washing machine to be replenished;
the replenishment request further comprises a charging request;
the operation information also comprises the task completion degree of the floor washing machine;
the server querying the status of the replenishment stations includes querying status information for all of the replenishment stations.
3. The machine washing machine replenishment method of claim 2,
the supply station inquired by the server is in a fault state, and the server inquires the state information of other supply stations again;
the "the server allocates a target replenishment station according to the replenishment request, the job information, and the status information" includes: the server acquires position information of a supply station in an idle state, a water changing state and a charging state, wherein the supply station closest to the scrubber to be supplied is the target supply station;
or the replenishment station inquired by the server is in an idle state, a water changing state or a charging state, and the replenishment station inquired by the server is the target replenishment station.
4. The method of claim 3, wherein the navigating the scrubber to be replenished to the target replenishment station docking replenishment comprises:
the target replenishment station is in an idle state, and the server sends an instruction to enable the floor washing machine to be replenished to butt joint the target replenishment station for replenishment;
or the target replenishment station is in a water change state, the server sends an instruction to enable the floor cleaning machine to be replenished to be close to the target replenishment station for waiting for replenishment, and after the floor cleaning machine in replenishment finishes water change, the server sends an instruction to enable the floor cleaning machine to be replenished to be in butt joint replenishment;
or the server inquires the state of the replenishment station as the charging state, the server sends an instruction to enable the ground washing machine in the replenishment of the target replenishment station to suspend charging, and then sends an instruction to enable the ground washing machine to be replenished to be in butt joint replenishment.
5. The machine washing machine replenishment method of claim 2,
and after receiving the supply request of the floor washing machine to be supplied, the server also calculates the required electric quantity of the floor washing machine to be supplied for completing the current task.
6. The machine washing machine replenishment method of claim 5,
the server acquires that a plurality of supply stations are in an idle state, wherein the supply station closest to the floor washing machine to be supplied is the target supply station;
or the server acquires that one replenishment station is in an idle state, and the replenishment station in the idle state is the target replenishment station;
or the server acquires that all the supply stations are in a water changing state or a charging state, and acquires the position information of the supply stations in the water changing state, wherein the supply station closest to the ground washer to be supplied is the target supply station;
or the server acquires that all the supply stations are in a charging state, acquires the current electric quantity of the charged floor washing machine and the required electric quantity, and calculates the supply time required by the sufficient electric quantity of the charged floor washing machine, wherein the supply station with the shortest supply time is distributed as the target supply station.
7. The method of claim 6, wherein the navigating the scrubber to be replenished to the target replenishment station docking replenishment comprises:
the target replenishment station is in an idle state, and the server sends an instruction to enable the floor washing machine to be replenished to butt joint the target replenishment station for replenishment;
or, the target replenishment station is in a water changing state or a charging state, the server sends an instruction to enable the floor cleaning machine to be replenished to wait for replenishment at the target replenishment station, and after the floor cleaning machine in replenishment completes replenishment, the server sends a replenishment instruction to enable the floor cleaning machine to be replenished to be in butt joint replenishment.
8. The method of claim 5, wherein after the machine to be replenished is docked for replenishment, further comprising:
in the butt joint supply process of the floor washing machine to be supplied, sending the current electric quantity to the server once every a preset time period;
the server judges whether the current electric quantity is larger than the required electric quantity or not, and if the judgment result is yes, the server determines that the floor washing machine to be replenished completes replenishment; if the judgment result is no, no processing is carried out.
9. A multi-machine multi-station machine washer replenishment system for performing the multi-machine multi-station machine washing machine replenishment method of any one of claims 1-8, comprising:
a receiving module: the system is used for receiving the supply requests and the operation information of all the floor washers and the state information of all the supply stations;
a distribution module: the system comprises a control center, a control center and a control center, wherein the control center is used for controlling the supply of the washing machine to the target supply station;
and, the control module: and the control module is used for sending instructions to control the floor washing machine to be replenished to be butted and replenished.
10. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the multi-machine, multi-station motor washer replenishment method of any of claims 1-8.
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Application publication date: 20211203 |