CN214380213U

CN214380213U - Workstation, robot and robot system of robot

Info

Publication number: CN214380213U
Application number: CN202120315408.3U
Authority: CN
Inventors: 李振; 吴雄峰; 唐朝奇; 车立建; 程昊天
Original assignee: Shanghai Xianyue Robot Technology Co ltd
Current assignee: Shanghai Gaoxian Environmental Technology Co.,Ltd.
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-10-08
Anticipated expiration: 2031-02-03

Abstract

The utility model discloses a workstation, robot and robotic system of robot. The workstation includes: the first control module, and a first communication module, a charging module, a pollution discharge module and a water adding module which are connected with the first control module; the first control module is communicated with a second control module of the robot through the first communication module and the second communication module of the robot and used for informing the second control module that the robot and the workstation successfully align the pile so as to enable the second control module to control the robot to be static in a state that the pile is successfully aligned; under the condition that the pile is successfully aligned, the charging module is connected with a charging port on a power module of the robot and used for supplying power to the power module through the charging port; the sewage discharge module is connected with a sewage discharge port on a sewage tank of the robot and used for receiving sewage of the sewage tank through the sewage discharge port; the water adding module is connected with a water adding port on a clean water tank of the robot and used for adding water into the clean water tank through the water adding port. The utility model discloses can realize simplifying the clean process of robot.

Description

Workstation, robot and robot system of robot

Technical Field

The embodiment of the utility model provides a relate to the clean technical field of intelligence, especially relate to workstation, robot and robot system of a robot.

Background

Along with the development of science and technology, the clean field gradually enters into the intelligent era, and the robot that can carry out self-cleaning ground can effectively liberate the manpower, and its application is more and more extensive.

The robot for automatically cleaning the ground needs to wet the ground with clean water in the working process and recover sewage generated in the cleaning process. When the water amount of the clear water is small, manual water addition is needed; when the amount of sewage is too much, manual sewage drainage is needed. In addition, when the power of the robot is insufficient, manual charging is also required.

The processes of charging, water adding, sewage discharging and the like of the current robot for automatically cleaning the ground all need manual operation, the cleaning process is relatively complex, and the intelligent degree is relatively low.

SUMMERY OF THE UTILITY MODEL

The utility model provides a workstation, robot and robotic system of robot to realize simplifying clean process and improving the intelligent degree of clean process.

In a first aspect, an embodiment of the present invention provides a workstation of a robot, the workstation includes:

the device comprises a first control module, and a first communication module, a charging module, a pollution discharge module and a water adding module which are connected with the first control module;

the first control module is communicated with a second control module of the robot through the first communication module and a second communication module of the robot, and is used for informing the second control module that the robot and the workstation successfully align the pile, so that the second control module controls the robot to be static in a state that the pile alignment is successful;

the charging module is connected with a charging port on a power module of the robot in the state that the pile is successfully aligned, and is used for supplying power to the power module through the charging port;

the sewage discharge module is connected with a sewage discharge port on a sewage tank of the robot in the state that the pile alignment is successful and is used for receiving sewage of the sewage tank through the sewage discharge port;

the water adding module is connected with a water adding port on a clean water tank of the robot in the state that the pile alignment is successful, and is used for adding water to the clean water tank through the water adding port.

Optionally, the workstation further comprises a first electrode slice connected with the output end of the charging module;

the first electrode plate is used for being in contact connection with a second electrode plate of the charging port so as to transmit the current output by the charging module to the second electrode plate.

Optionally, the sewage discharging module comprises a sewage accommodating box and a sewage discharging pump, one end of the sewage accommodating box is connected with the sewage discharging port through a sewage discharging channel, and the other end of the sewage accommodating box is connected with an external sewage discharging system through the first control module;

the sewage receiving box is used for receiving sewage discharged from the sewage discharging channel;

the sewage pump is used for discharging the sewage in the sewage containing box to the external sewage system.

Optionally, the dredge pump comprises a dredge submersible pump.

Optionally, the water adding module comprises a water adding pump, one end of the water adding pump is connected with the water adding port through a water adding channel, and the other end of the water adding pump is connected with an external water adding system through the first control module;

the water adding pump is used for introducing clean water in the external water adding system into the water adding port through the water adding channel.

Optionally, the watering pump comprises a watering diaphragm pump.

Optionally, the workstation further comprises a graphic code and/or a proximity switch;

the graphic code is used for positioning and scanning by a scanning module of the robot;

and the proximity switch is used for outputting a corresponding switching electric signal to the first control module under the condition that the pile pair is successful.

Optionally, the first communication module comprises a Lora wireless communication module;

the workstation also comprises a man-machine interaction module and/or an advertisement playing module which are connected with the first control module.

The human-computer interaction module can realize the interaction with a user, and can control the charging, water adding or sewage discharging process of the robot by the workstation based on a control instruction sent by the user, so that the flexibility of the cleaning process is improved. The advertisement playing module can play preset videos or pictures, and user experience is enhanced.

In a second aspect, an embodiment of the present invention provides a robot, including:

the sewage treatment system comprises a second control module, and a second communication module, a power module, a sewage tank and a clean water tank which are connected with the second control module; the power module comprises a charging port, the sewage tank comprises a sewage discharge port, and the clean water tank comprises a water filling port;

the second control module is communicated with the first control module of the workstation through the second communication module and the first communication module of the workstation, and is used for receiving a signal sent by the first control module that the robot and the workstation successfully align the pile, and controlling the robot to be static in the state that the pile is successfully aligned;

the charging port is connected with a charging module of the workstation in the state that the pile is successfully aligned and used for receiving a power supply provided by the charging module;

the sewage draining port is connected with a sewage draining module of the workstation in the state that the pile is successfully aligned and used for draining sewage in the sewage tank to the sewage draining module;

and the water filling port is connected with the water filling module of the workstation in the state that the pile alignment is successful and is used for introducing water filled by the water filling module into the clear water tank.

Optionally, the robot further comprises a second electrode plate connected to the charging port;

the second electrode plate is in contact connection with the first electrode plate of the workstation to receive current output by the first electrode plate.

Optionally, the sewage outlet is connected with one end of a sewage storage box of the sewage discharging module through a sewage discharging channel;

and the sewage draining port is used for draining the water in the sewage tank to the sewage storage box through the sewage draining channel.

Optionally, the water filling port is connected with one end of a water filling pump of the water filling module through a water filling channel;

the water filling port is used for introducing clean water in an external water filling system introduced by the water filling pump through the water filling channel into the clean water tank.

Optionally, the robot further comprises a scanning module;

the scanning module is used for positioning and scanning the graphic code of the workstation;

optionally, the second communication module comprises a Lora wireless communication module.

In a third aspect, an embodiment of the present invention provides a robot system, the robot system includes a workstation and a robot, the workstation includes any of the workstations of the first aspect, and the robot includes any of the robots of the second aspect.

The embodiment of the utility model provides an in, first control module is through first communication module and second communication module, and the notice second control module robot succeeds to the stake with the workstation, and second control module controls the robot static under the state successful to the stake. Then the charging module is connected with a charging port on the power module in a state of successfully aligning the pile, and power is supplied to the power module through the charging port; the sewage discharging module is connected with a sewage discharging port on the sewage tank in a state that the pile is successfully aligned, and sewage in the sewage tank is discharged to the sewage discharging module through the sewage discharging port; the water adding module is connected with a water adding port on the clean water tank in a state of successful pile alignment, and water is added into the clean water tank through the water adding port. Under the state that the robot and the workstation are successful to the stake, the workstation can charge for the robot, add water and blowdown, has realized the charging that need not artifical participation, has added water and the blowdown process, has consequently solved the manual work and has carried out the robot charge, add water and the processes such as blowdown comparatively loaded down with trivial details, and the lower problem of intelligent degree, has improved the cleaning efficiency of robot, has simplified the cleaning process, has improved the intelligent degree of cleaning process.

Drawings

Fig. 1 is a schematic structural diagram of a workstation of a robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a robot system according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a workstation of a robot according to an embodiment of the present invention. The workstation 1 comprises: the device comprises a first control module 10, and a first communication module 11, a charging module 12, a pollution discharge module 13 and a water adding module 14 which are connected with the first control module 10. Alternatively, the first control module 10 may include an embedded control board, and the first communication module 11 may include a Lora wireless communication module.

The first control module 10 communicates with the second control module of the robot through the first communication module 11 and the second communication module of the robot. The first control module 11 is configured to notify the second control module that the robot successfully aligns with the pile, so that the second control module controls the robot to be stationary in a state where the pile is successfully aligned.

The charging module 12 is connected to a charging port on a power module of the robot in a state where the robot and the workstation successfully align the pile, and is configured to supply power to the power module through the charging port. The sewage discharging module 13 is connected with a sewage discharging port on a sewage tank of the robot in a state of successful pile alignment, and is used for receiving sewage of the sewage tank through the sewage discharging port. The water adding module 14 is connected with a water adding port on the clean water tank of the robot in a state that the pile is successfully aligned, and is used for adding water to the clean water tank through the water adding port.

The state of success of the pile refers to that the robot reaches the target position, and when the robot is located at the target position, the charging module 12 of the workstation can be accurately connected with the charging port, or the pollution discharge module 13 can be accurately connected with the sewage discharge port, or the water adding module 14 can be accurately connected with the water adding port.

A switch may be disposed between the first control module 10 and each module connected thereto, and the first control module 10 controls the on and off of each module by controlling the switch. Alternatively, the switch may include a relay that can control a larger current with a smaller current, having automatic regulation, safety protection and switching functions on the circuit.

To sum up, the embodiment of the utility model provides a workstation of robot, first control module inform second control module robot and workstation to the stake success through the second communication module of first communication module and robot to it is static to make second control module control robot under the state that is successful to the stake. Then the charging module is connected with a charging port on a power module of the robot in a state of successfully aligning the pile, and power is supplied to the power module through the charging port; the sewage discharge module is connected with a sewage discharge port on a sewage tank of the robot in a state that the pile is successfully aligned, and sewage of the sewage tank is received through the sewage discharge port; the water adding module is connected with a water adding port on a clean water tank of the robot in a state that the pile is successfully aligned, and water is added into the clean water tank through the water adding port. The work station can charge, add water and blowdown for the robot under the state that the robot and the work station succeed in piling, and the charging, adding water and blowdown process that need not artifical participation is realized to improve the cleaning efficiency of robot, simplified the cleaning process, improved the intelligent degree of cleaning process.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. The robot 2 includes: a second control module 20, and a second communication module 21, a power module 22, a sewage tank 23, and a clean water tank 24 connected to the second control module 20. Alternatively, the second communication module 21 may include a Lora wireless communication module.

The power module 22 may include a charging port 220, a Battery 221, and a Battery Management System (BMS) 222. The battery may be a rechargeable battery such as a secondary battery, and the BMS is used to maintain the battery, prevent overcharge and overdischarge of the battery, monitor the state of the battery, and the like, and thus extend the lifespan of the battery. The wastewater tank 23 may include a sewage drain 230 and the clean water tank 24 may include a filler 240. The second control module 20 may communicate with the BMS 222 according to a 485 communication standard, and monitor parameters of the battery, such as voltage, current, temperature, and State of charge (SOC), in real time. The second control module 20 communicates with the second communication module 21 according to the 232 communication standard.

A first level indicator 231 may also be included in the waste tank 23, and the second control module 20 may be capable of determining a first level of waste water in the waste tank 23 via the first level indicator 231. A second level indicator 241 may also be included in the clean water tank 24, by means of which second level indicator 241 the second control module 20 can determine a second level of clean water in the clean water tank 24.

A switch (not shown in fig. 2) may be provided between the battery 221 and the BMS 222 to which the charging port 220 is connected. The second control module 20 controls the opening and closing of the circuit between the charging port 220 and the battery 221 by controlling the switch, which may optionally include a relay. Valves may be provided on both the sewage tank 23 and the clean water tank 24, and the second control module 20 controls the opening and closing of the discharge of sewage from the sewage tank 23 and the introduction of clean water into the clean water tank 24 by controlling the valves. Illustratively, the valve may comprise an electrically operated ball valve.

In connection with the aforementioned fig. 1, the second control module 20 communicates with the first control module 10 via the second communication module 21 and the first communication module 11 of the workstation 1. The second control module 20 is configured to control the robot 2 to be stationary in a successful pile-targeting state when receiving the successful pile-targeting signal sent by the first control module 10.

The charging port 220 is connected to the charging module 12 in a state where the robot 2 and the workstation 1 are successfully aligned with the pile, and receives power supplied from the charging module 12. The soil discharge outlet 230 is connected to the soil discharge module 13 in a state where the piling is successfully performed, for discharging the sewage in the sewage tank 23 to the soil discharge module 13. The water adding port 240 is connected to the water adding module 14 in a state of being successful for the pile, for introducing the water added by the water adding module 14 into the clean water tank 24.

To sum up, the embodiment of the utility model provides a robot, second control module pass through the first communication module of second communication module and workstation, receive the signal that second control module sent to the stake is successful when, and control robot is static under the state to the stake is successful. Then the charging port is connected with a charging module of the workstation in a state of successful pile alignment, and receives a power supply provided by the charging module; the sewage draining port is connected with the sewage draining module of the workstation in a successful pile aligning state, and sewage in the sewage tank is drained to the sewage draining module through the sewage draining port; the water filling port is connected with a water filling module of the workstation in a state of successful pile alignment, and water filled by the water filling module is introduced into the clear water tank. The robot can charge, add water and blow-off through the workstation under the state of successfully piling with the workstation, and realizes the charging, adding water and blow-off process without manual participation, thereby improving the cleaning efficiency of the robot, simplifying the cleaning process and improving the intelligent degree of the cleaning process.

The embodiment of the utility model provides a robot system, please refer to fig. 3, fig. 3 is the utility model provides a structure schematic diagram of robot system, this robot system includes workstation 1 and robot 2 of robot, each module and usage can refer to aforementioned fig. 1 and fig. 2 and relevant description in this workstation 1 and robot 2, the embodiment of the utility model provides a do not do here and describe repeatedly. The specific structure, connection method, and the like of the workstation and the robot will be further described below by taking the robot system as an example. It should be noted that fig. 3 shows a state where the robot 2 and the workstation 1 are successfully aligned with each other, and when the robot is in the working state, the respective modules between the workstation 1 and the robot 2 are not connected.

As shown in fig. 3, the workstation 1 further includes a graphic code 15, and the robot 2 further includes a scanning module 25, wherein the graphic code 15 is used for the scanning module 25 to perform positioning scanning. Alternatively, the graphic code 15 may include a two-dimensional code, a bar code, or the like, and the scanning module 25 may include a camera having a scanning function.

Further, the robot 2 may comprise a positioning module 26, the positioning module 26 being used for determining the position of the workstation 1, etc., the positioning module 26 may comprise a lidar, for example. The workstation 1 may further comprise a proximity switch 16, the proximity switch 16 being arranged to output a corresponding switching electrical signal to the first control module 10 in the event of a successful pile condition. The proximity switch 16 is provided with a displacement sensor, and the purpose of controlling the on or off of the switch can be achieved by utilizing the sensitivity characteristic of the displacement sensor to a proximity object.

The workstation 1 may further comprise a human-machine interaction module and/or an advertisement playing module connected to the first control module 10, and fig. 3 exemplifies that the workstation 1 comprises a human-machine interaction module 17 and an advertisement playing module 18. The human-computer interaction module 17 can realize interaction with a user, can control the charging, water adding or sewage discharging process of the robot 2 by the workstation 1 based on a control instruction sent by the user, and improves the flexibility of the cleaning process. The advertisement playing module 18 can play preset video or pictures, and the user experience is enhanced.

In an embodiment of the invention, the workstation 1 may comprise a first electrode pad (not shown in fig. 3) connected to the output of the charging module 12. Accordingly, the robot 2 includes a second electrode pad (not shown in fig. 3) connected to the charging port 220. The first electrode plate is used for being in contact connection with the second electrode plate of the charging port 220 so as to transmit the current output by the charging module 12 to the second electrode plate. The second electrode tab is used to transmit current to the battery 221 to charge the battery 221. The charging module 12 is connected to an external power supply system through the first control module 10, and when the robot 2 is charged, the charging module 12 transmits a current output from the external power supply system to the battery 221 of the robot 2.

The soil discharge module 13 may include a sewage storage tank 130 and a sewage pump 131, one end of the sewage storage tank 130 is connected with the sewage discharge port 230 through a sewage passageway, and the other end is connected with an external sewage system through the first control module 10. This sewage storage box 130 is used for holding the sewage that comes in through the blowdown passageway, and dredge pump 131 is arranged in discharging the sewage in the sewage storage box 130 to outside sewage disposal system. Alternatively, the trapway may be a long water line and the trappump 131 may include a submersible trapway pump. A third level indicator 132 may also be included in the soil exhaust module 13, and the first control module 10 may be capable of determining a third level of wastewater in the wastewater receiving tank 130 via the third level indicator 132.

The watering module 14 may include a watering pump 140, and one end of the watering pump 140 is connected to the watering port 240 through a watering passage, and the other end is connected to an external watering system through the first control module 10. The filler pump 140 is used to introduce clean water in an external watering system into the watering port 240 through the watering passage. Alternatively, the watering passage may be a long water pipe, and the watering pump 140 may include a watering diaphragm pump.

The operation of the robot system will be described below with reference to fig. 3 as an example. The triggering conditions of the robot 2 and the workstation 1 for the pile include at least one of the following: the second control module 20 monitors that the SOC (representing the remaining amount of power) of the battery 221 is less than the first SOC threshold value; the second monitoring module 20 determines that the first liquid level in the waste tank 23 is greater than the first liquid level threshold by the first liquid level indicator 231; the second monitoring module 20 determines, via the second level indicator 241, that the second level in the clean water tank 24 is less than the second level threshold.

If the second control module 20 monitors that the SOC of the battery is smaller than the first SOC threshold value when the robot 2 is not located at the target position, the second control module 20 needs to control the robot 2 and the workstation 1 to perform pile alignment, and then execute a subsequent charging process after the pile alignment is completed. If the second control module 20 monitors that the SOC of the battery is less than the first SOC threshold when the robot 2 is at the target position, the second control module 20 directly executes the subsequent charging process.

The pile aligning process comprises the following steps: the second control module 20 sends a "return to workstation" signal to the positioning module 26, and the positioning module 26 determines and sends the position of the workstation 1 to the second control module 20 based on the received "return to workstation" signal. The second control module 20 controls the hub motor of the robot 2 to rotate based on the position of the workstation 1, so that the robot 2 travels to a target area, wherein the target area can be an area which is spaced from the front surface of the workstation 1 by n meters, and n is larger than 0. The positioning module 26 is preset with position information of the target area, and when the positioning module 26 determines that the robot reaches the target area, it sends a signal of "reaching the target area" to the second control module 20.

The second control module 20 transmits a signal of "preparation for charging" to the first control module 10 through the second communication module 21 and the first communication module 11 based on the received signal of "arrival at target area". The first control module 10 transmits a charging response signal to the second control module 20 based on the received "ready to charge" signal. The second control module 20 controls the hub motor of the robot 2 to rotate in place by a fixed angle (for example, 180 degrees) based on the received charging response signal, so that the charging port 220 of the robot 2 faces the workstation 1. Since the charging port 220 of the robot 2 is usually on the back of the robot 2, and the robot 2 usually faces the workstation 1 when traveling to the target area, the second control module 20 needs to adjust the robot 2 from facing the workstation 1 to facing the workstation 1. It should be noted that the second control module 20 receives the charging response signal and determines that the charging reservation is successful. The second control module 20 does not receive the charging response signal within the first time interval, and determines that the charging reservation fails, at this time, the second control module 20 will send a "ready to charge" signal to the first control module 10 again until receiving the charging response signal.

Then, the second control module 20 sends a scanning signal to the scanning module 25, the scanning module 25 scans the graphic code 15 on the workstation 1 based on the received scanning signal, and the scanning module 25 sends a "scanning success" signal to the second control module 20 after the scanning module 25 successfully scans the graphic code 15. The second control module 20 controls the hub motor to rotate based on the signal of "scanning success", so that the robot 2 travels straight in the direction close to the workstation 1. When the second control module 20 receives the signal of "scan success", it indicates that there is no offset in the position of the robot 2, and after the robot 2 is controlled to approach the workstation 1 linearly, the robot 2 can successfully align the pile with the workstation 1, that is, the second electrode pad of the charging port 220 of the robot 2 can contact the first electrode pad of the charging module 12 of the workstation 1. The second control module 20, when it does not receive the "scan successful" signal in the second time interval, indicates that there is a deviation in the position of the robot 2, and if the straight line approaches the workstation 1, the pile may not be successfully scanned, and subsequently the charging may not be performed. The second control module 20 therefore needs to readjust the position of the robot 2. Alternatively, the second control module 20 may control the hub motor to rotate, so that the robot 2 leaves the target area, and then the aforementioned process of controlling the robot 2 to travel to the target area, make a charging reservation, make the charging port 220 of the robot 2 directly face the workstation 1, and scan the graphic code 15 is executed again until the second control module 20 receives a "scan success" signal.

The electrode plate shell is arranged outside the first electrode plate of the workstation 1, when the robot 2 runs along the direction close to the workstation 1, the electrode plate shell can be pressed towards the direction close to the workstation 1, and at the moment, the electrode plate shell can also be gradually close to the proximity switch 16. When the electrode sheet housing is less than the target distance from the proximity switch 16, the proximity switch 16 will trigger and send a "pile in place" signal to the first control module 10 of the workstation 1. The first control module 10 forwards a "pile in place" signal to the second control module 20. The second control module 20 controls the in-wheel motor to stop rotating based on the "pile in place" signal and locks the in-wheel motor to make the robot 2 still. At this time, the robot 2 is at the target position, and the charging port 220 of the robot 2 is connected to the charging module 12 of the workstation 1.

The charging process comprises the following steps: the second control module 20 transmits a signal of 'confirm charging' to the first control module 10 and opens the switch between the charging port 220 and the battery 221 and the BMS 222, and the first control module 10 opens the switch between the first control module 10 and the charging module 12 based on the signal of 'confirm charging'. At this time, the circuits between the first control module 10, the charging module 12, the first electrode pad, the second electrode pad, the charging port 220, the battery 221, the BMS 222, and the second control module 20 are paths. The first control module 10 then controls the charging module 12 to charge the battery. Alternatively, the first control module 10 may acquire the SOC value of the battery 221 through the second control module 20 and control the charging module 12 to charge the battery 221 based on the SOC value. For example, the first control module 10 may control the charging module 12 to charge in a constant current manner when the SOC value is smaller than the second SOC threshold value; when the SOC value is greater than or equal to the second SOC threshold value, the charging module 12 is controlled to perform charging in a constant voltage manner, so that the loss of the battery 221 during the charging process can be reduced, and the service life of the battery 221 can be prolonged.

The second control module 20 sends a "stop charging" signal to the first control module 10 when it monitors that the SOC value of the battery 221 is 100% (indicating that the battery is fully charged). The first control module 10 turns off the switch between the first control module 10 and the charging module 12 based on the "stop charging" signal, and at this time, the charging module 12 does not output current, and the charging process of the robot 2 is completed. If the second control module 20 subsequently determines, by means of the first level indicator 231, that the first level in the waste water tank 23 is greater than the first level threshold and/or determines, by means of the second level indicator 241, that the second level in the clean water tank 24 is less than the second level threshold, the blowdown process and/or the watering process is subsequently performed. If the second control module 20 subsequently determines that the first liquid level in the waste water tank 23 is less than or equal to the first liquid level threshold value through the first liquid level indicator 231 and determines that the second liquid level in the clean water tank 24 is greater than or equal to the second liquid level threshold value through the second liquid level indicator 241, the second control module 20 may control the hub motor of the robot 2 to unlock and rotate, so that the robot 2 leaves the target position to continue working.

If the second control module 20 determines that the first liquid level in the sewage tank 23 is greater than the first liquid level threshold value when the robot 2 is not located at the target position, the second control module 20 needs to control the robot 2 and the workstation 1 to perform pile alignment, and perform a subsequent sewage discharge process after the pile alignment is completed. This can refer to aforementioned to a stake flow to a stake process, the embodiment of the utility model provides a do not do here and describe repeatedly. If the second control module 20 determines that the first liquid level in the waste tank 23 is greater than the first liquid level threshold when the robot is in the target position, the second control module 20 directly performs the subsequent waste discharge process.

The sewage discharge process comprises the following steps: the second control module 20 sends a "confirm blowdown" signal to the first control module 10 and opens the valve on the blowdown tank 23, and the first control module 10 opens the switch between the first control module 10 and the blowdown module 13 based on the "confirm blowdown" signal. The sewage in the sewage tank 23 is then discharged to the sewage housing tank 130 in the sewage module 13 through the sewage pipes.

The second control module 20 closes the valve on the waste tank 23 and sends a "stop blowdown" signal to the first control module 10 when it determines that the first liquid level in the waste tank 23 is less than or equal to the first liquid level threshold. The first control module 10 closes the switch between the first control module 10 and the sewage discharging module 13 based on the "stop sewage discharging" signal, at this time, the sewage in the sewage tank 23 is not discharged to the sewage discharging module 13, and the sewage discharging process of the robot is completed. If the second control module 20 subsequently monitors that the SOC value of the battery 221 is less than the first charge threshold value, and/or determines that the second liquid level in the clean water tank 24 is less than the second liquid level threshold value through the second liquid level indicator 241, the charging process and/or the water adding process is subsequently performed. If the second control module 20 subsequently monitors that the SOC value of the battery 221 is greater than or equal to the charge threshold, and determines that the second liquid level in the clean water tank 24 is greater than or equal to the second liquid level threshold through the second liquid level indicator 241, the second control module 20 may control the hub motor of the robot 2 to unlock and rotate, so that the robot 2 leaves the target position to continue working.

It should be noted that when the first control module 10 determines that the third liquid level in the sewage housing tank 130 is greater than the third liquid level threshold value through the third liquid level indicator 132, the sewage disposal flow of the sewage housing tank 130 is performed. The first control module 10 turns on the sewage pump 131, and then the sewage in the sewage housing tank 130 is discharged to the external sewage system.

If the second control module 20 determines that the second liquid level in the clean water tank 24 is less than the second liquid level threshold when the robot 2 is not located at the target position, the second control module 20 needs to control the robot 2 and the workstation 1 to perform pile alignment, and then execute a subsequent water adding process after the pile alignment is completed. This can refer to aforementioned to a stake flow to a stake process, the embodiment of the utility model provides a do not do here and describe repeatedly. If the second control module 20 determines that the second level in the clean water tank 24 is less than the second level threshold when the robot 2 is at the target position, the second control module 20 directly performs the subsequent watering sequence.

The water adding flow comprises the following steps: the second control module 20 sends a "confirm water add" signal to the first control module 10 and opens a valve on the clean water tank 24, the first control module 10 opening a switch between the first control module 10 and the water add module 14 based on the "confirm water add" signal. The clean water in the external watering system then flows into the clean water tank 24 through the watering passage.

The second control module 20 closes the valve on the clean water tank 24 and sends a "stop water addition" signal to the first control module 10 when it determines that the second level in the clean water tank 24 is greater than or equal to the second level threshold. The first control module 10 closes the switch between the first control module 10 and the water adding module 14 based on the "stop adding water" signal, at this time, the clean water in the external water adding system does not flow into the clean water tank 24 any more, and the water adding process of the robot is completed. If the second control module subsequently monitors that the SOC value of the battery 221 is less than the charge threshold value, and/or determines that the first liquid level in the waste water tank 23 is greater than the first liquid level threshold value through the first liquid level indicator 231, the charging process and/or the sewage discharge process is subsequently performed. If the second control module 20 subsequently monitors that the SOC value of the battery 221 is greater than or equal to the charge threshold, and the first liquid level indicator 231 determines that the first liquid level in the waste water tank 23 is less than or equal to the first liquid level threshold, the second control module 20 may control the hub motor of the robot 2 to unlock and rotate, so that the robot leaves the target position to continue working.

To sum up, the embodiment of the utility model provides a robot system, first control module inform second control module robot and workstation to the stake success through first communication module and second communication module, and second control module controls the robot static under the state to the stake success. Then the charging module is connected with a charging port on the power module in a state of successfully aligning the pile, and power is supplied to the power module through the charging port; the sewage discharging module is connected with a sewage discharging port on the sewage tank in a state that the pile is successfully aligned, and sewage in the sewage tank is discharged to the sewage discharging module through the sewage discharging port; the water adding module is connected with a water adding port on the clean water tank in a state of successful pile alignment, and water is added into the clean water tank through the water adding port. Under the state that the robot and the workstation successfully align the pile, the workstation can charge, add water and blowdown for the robot, has realized the charging, the water and the blowdown process that need not artifical the participation to improve the cleaning efficiency of robot, simplified the cleaning process, improved the intelligent degree of cleaning process.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A workstation of a robot, the workstation comprising:

2. The workstation of claim 1, further comprising a first electrode pad connected to an output of the charging module;

3. The workstation according to claim 1, wherein the sewage module comprises a sewage receiving box and a sewage pump, one end of the sewage receiving box is connected with the sewage outlet through a sewage channel, and the other end of the sewage receiving box is connected with an external sewage system through the first control module;

4. The workstation of claim 3 wherein the dredge pump comprises a dredge submersible pump.

5. The workstation according to claim 1, wherein the watering module comprises a watering pump, one end of the watering pump is connected with the watering opening through a watering channel, and the other end of the watering pump is connected with an external watering system through the first control module;

6. The workstation of claim 5 wherein the watering pump comprises a watering diaphragm pump.

7. The workstation according to any one of claims 1 to 6, wherein the workstation further comprises a graphic code and/or a proximity switch;

8. The workstation according to any of claims 1 to 6, wherein said first communication module comprises a Lora wireless communication module;

9. A robot, characterized in that the robot comprises:

10. A robot system, characterized in that the robot system comprises a workstation comprising a workstation according to any of claims 1 to 8 and a robot comprising a robot according to claim 9.