CN215016871U - Small-size automatic floor cleaning robot and control system thereof - Google Patents
Small-size automatic floor cleaning robot and control system thereof Download PDFInfo
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- CN215016871U CN215016871U CN202120732883.0U CN202120732883U CN215016871U CN 215016871 U CN215016871 U CN 215016871U CN 202120732883 U CN202120732883 U CN 202120732883U CN 215016871 U CN215016871 U CN 215016871U
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Abstract
The utility model discloses a small-sized autonomous floor washing robot and a control system thereof; the small autonomous floor washing robot comprises a robot body, a disc brush, a water sucking and bending machine, a chassis driving system, a water adding and draining system, a sewage circulating and filtering system and a control system; the sewage circulating and filtering system comprises a sewage tank and a clear water tank, wherein a sewage primary filter element and a filter pump for filtering sewage are arranged in the sewage tank; and a circulating filter element is arranged in the clear water tank. The sewage recovered by the sewage tank is filtered and recovered by the sewage primary filter element and the filter pump, then is supplemented into the clean water tank, and is further recycled after being filtered by the circulating filter element in the clean water tank. A control system of a small-sized autonomous floor washing robot is characterized in that an industrial personal computer obtains images through a laser module and establishes a path plan, then water spraying amount, disc brush driving rotating speed and water sucking motor rotating speed are selected on an operation interface of the industrial personal computer, and the industrial personal computer is started by one key, moves under the action of a chassis driving system, and walks while performing autonomous cleaning operation.
Description
Technical Field
The utility model belongs to the technical field of small-size intelligent robot, concretely relates to small-size independently ground washing robot and control system thereof.
Background
The existing floor cleaning robot generally sprays clean water by the floor cleaning robot, cleans the ground by a disc brush, sucks sewage into the floor cleaning robot again for storage by water sucking from the rear side, discharges and adds water by the cleaning staff manually after the floor cleaning work is finished, and the existing floor cleaning robot has low working efficiency because the hands of the cleaning staff are insufficient and cannot discharge and add water in time after the floor cleaning robot works.
Meanwhile, the existing commercial robot is large in size and cannot completely meet the use requirements in certain areas such as hospitals, markets, office buildings, factory workshops and the like in small scene occasions.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a small-size autonomic ground cleaning robot improves ground cleaning robot's autonomy and work efficiency, reduces labour cost.
Therefore, the technical scheme of the utility model is that:
the utility model provides a small-size automatic ground washing robot, includes the organism, is used for washing the dish brush, sets up the chassis driving system who is used for absorbing water of sewage and lies prone, drive the organism walking and turn to at dish brush rear, its characterized in that still includes: the sewage treatment system comprises a water adding and draining system capable of spraying water on the ground, a sewage circulating and filtering system for purifying sewage to be recycled, and a control system, wherein the control system is in communication connection with each system;
the sewage circulating and filtering system comprises a sewage tank and a clean water tank which are arranged on the machine body, wherein a sewage primary filter element for primary filtering of sewage is arranged in the sewage tank, and a filter pump for secondary filtering of sewage and sucking of the filtered sewage to the clean water tank is also arranged in the sewage tank; a circulating filter element for purifying the sewage again is arranged in the clean water tank;
the sewage recovered by the sewage tank is filtered and recovered by the sewage primary filter element and the filter pump, then is supplemented into the clean water tank, and is recycled after being filtered by the circulating filter element in the clean water tank.
Furthermore, a sewage liquid level upper limit float switch for detecting whether the liquid level state reaches the sewage upper limit is also arranged in the sewage tank; the circulating filter element sequentially comprises: the circulating filtration primary filter element and the circulating filtration secondary filter element.
Further, the water charging and discharging system comprises: the clean water tank comprises a water injection pipe capable of injecting water into the clean water tank, a clean water filter element for filtering the water injected from the water injection pipe, and a float switch for detecting upper and lower limit water levels in the clean water tank.
Further, an autonomous soil exhaust system is also included, the autonomous soil exhaust system including: the sewage treatment device comprises a sewage discharge filter element, a sewage discharge booster pump and a sewage discharge pipe, wherein sewage in a sewage tank is filtered by the sewage discharge filter element and then is discharged by the sewage discharge pipe after being boosted by the sewage discharge booster pump, and the sewage treatment device also comprises a sewage discharge electric ball valve for detecting whether the liquid level of the sewage reaches a sewage discharge condition.
Further, the chassis driving system includes: the universal wheel that is located advancing direction the place ahead, be located advancing direction the place ahead and be the drive wheel that left and right sides distributes, the drive wheel is by in-wheel motor differential drive.
Furthermore, the two disc brushes are symmetrically distributed along the central line of the chassis; the disc brush can be driven by the disc brush lifting mechanism to lift; the water absorption groveling is an arc-shaped structure capable of swinging left and right, and the water absorption groveling can be driven by the water absorption groveling lifting mechanism to lift.
Further, still include: the system comprises an electronic code visual navigation module, a WIFI module, a 4G route, an IMU, a two-dimensional code camera and an ultrasonic sensor, wherein the electronic code visual navigation module is used for positioning, the WIFI module and the 4G route are used for providing communication connection signals, the IMU is used for measuring the space coordinate and the acceleration of the small-sized autonomous floor washing robot, the two-dimensional code camera is used for accurately positioning and navigating in a close range, the ultrasonic sensor is used for scanning a path so as to avoid or bypass roadblocks, the WIFI module, the 4G route, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with an embedded mainboard.
Further, the system also comprises a safety obstacle avoidance system; the obstacle avoidance system comprises: the device comprises a laser module for collecting images of a cleaning area, an ultrasonic sensor arranged on the machine body to detect obstacles, and an electronic anti-collision strip.
The utility model discloses an on the other hand still provides a small-size automatic ground washing robot control system, a serial communication port, include: the small-sized autonomous floor cleaning robot comprises a laser module for scanning laser to obtain images of a cleaning area, an industrial personal computer for communicating and transmitting with the laser module, an embedded main board for performing operation control according to information output by the industrial personal computer, a plurality of driving components connected with the embedded main board, and a plurality of executing components driven by the driving components, wherein the executing components act to enable the small-sized autonomous floor cleaning robot to perform walking, cleaning, autonomous charging, autonomous water adding and autonomous pollution discharging operations.
Further, still include: the system comprises an electronic code visual navigation module, a WIFI module, a 4G route, an IMU, a two-dimensional code camera and an ultrasonic sensor, wherein the electronic code visual navigation module is used for positioning, the WIFI module and the 4G route are used for providing communication connection signals, the IMU is used for measuring the space coordinate and the acceleration of the small-sized autonomous floor washing robot, the two-dimensional code camera is used for accurately positioning and navigating in a close range, the ultrasonic sensor is used for scanning a path so as to avoid or bypass roadblocks, the WIFI module, the 4G route, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with an embedded mainboard.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
the small-sized autonomous floor washing robot and the control system thereof can realize autonomous navigation, autonomous water adding, autonomous pollution discharge, autonomous charging and other operations, improve the autonomy of the robot and reduce the manual intervention cost; on the other hand, the sewage is recycled as clean water after passing through the sewage filtering and circulating filtration system, so that the timely pollution discharge and water adding work of cleaning personnel is reduced, and the land washing efficiency is improved; especially in intensive places such as hospitals and the like, the risk of infection of infectious diseases of cleaning personnel is greatly reduced.
Compare with large-scale floor cleaning robot, the utility model discloses a small-size autonomous floor cleaning robot is because of advantages such as small noise low degree of automation height, so can be applied to the less occasion of job scene such as hospital, market, office building, factory workshop widely to the human cost has been practiced thrift greatly.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic structural view of a small autonomous floor-washing robot of the present invention;
FIG. 2 is a schematic structural view of the small-sized autonomous floor-cleaning robot of the present invention at another viewing angle;
FIG. 3 is an enlarged detail view of FIG. 2;
fig. 4 is a sewage tank and a clean water tank disposed at an upper portion of a body of the small autonomous floor washing robot;
fig. 5 is a schematic configuration diagram of a control system of the small autonomous floor washing robot.
Wherein, 1 is the dish brush, 2 is absorbing water and lying prone, 3 is the sewage case, 4 is the clear water case, 8 is the sprinkler valve, 9 is the clear water sprinkler pipe, 10 is the water injection pipe, 11 is right in-wheel motor, 12 is the water filling port, 13 is the universal wheel, 14 is emergency stop button, 15 is the loop filter one-level filter core, 16 is the loop filter second grade filter core, 32 is the clear water filter core, 51 is the filter core of once sewage, 52 is the sewage suction pipe, 53 is the fan, 54 is the motor that absorbs water, 55 is the sewage exhaust tube, 56 is the soil pick-up pipe, 61 is first sewage loop filter connecting pipe, 62 is second sewage loop filter connecting pipe, 63 is the water pipe that absorbs water and lies prone, 71 is the blow off pipe, 72 is the blowdown booster pump, 73 is blowdown electric ball valve, 74 is the drain, 75 is the blowdown filter core.
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 some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention. In the present invention, SLAM is an abbreviation for synchronous positioning And Mapping (Simultaneous Localization And Mapping).
Example 1
As shown in fig. 1 to 4, the structure of the small autonomous floor cleaning robot of the present invention is schematically illustrated.
The utility model discloses a small-size autonomic floor cleaning robot, including the organism, still including the dish brush 1 that is used for washing ground, set up and inhale the chassis actuating system that absorbs water of sewage and lie prone 2, drive organism walking and turn to at 1 rear of dish brush, still include to the water tank moisturizing and to the drainage system that adds that ground sprinkles water, to sewage purification so that the sewage circulating and filtering system and the control system of cyclic use, control system and other each system communication are connected.
As shown in fig. 1 to 4, the unmanned floor cleaning robot adopts a double-water tank design, namely a clean water tank 4 and a sewage tank 3, the capacity of the double-water tank design is 25L, and the tank bodies of the water tanks are all made of stainless steel through welding. As shown in fig. 1 to 4, in the present invention, the sewage circulating and filtering system includes two water tanks, namely a sewage tank 3 and a clean water tank 4, disposed on the machine body; specifically, a primary sewage filter element 51 for primary filtering of sewage is arranged in the sewage tank 3, a filter pump for secondary filtering of sewage and sucking of the filtered sewage to the clean water tank 4 is also arranged in the sewage tank 3, and a sewage discharge filter element 75, a sewage liquid level float switch, a circulating filtering liquid level float switch and the like are also arranged in the sewage tank 3; the sewage suction pipe 56 at the starting end of the sewage tank 3 is a stainless steel pipe. A clear water filter element 32 specially used for filtering clear water, a clear water liquid level float switch used for detecting whether the liquid level state is full or not and a circulating filter element specially used for filtering sewage are arranged in the clear water tank 4; the circulation filter cartridge includes: a circulation filtration primary filter element 15 and a circulation filtration secondary filter element 16 for secondary filtration. Fig. 4 is a schematic view of the sewage tank and the clean water tank at the upper part of the machine body after the top cover of the small-sized autonomous floor washing robot is opened.
As shown in fig. 1-4, the utility model discloses in, the sewage that sewage case 3 retrieved flows out by sewage case 3, through the first sewage circulation of sewage filter core 51, the flow through first sewage circulation filter connecting pipe 61, flow to the filtration pump again, filter electronic ball valve, flow through second sewage circulation filter connecting pipe 62 and filter and retrieve the back and supply to clear water case 4 in, after the filtration of the circulation filtration one-level filter core 15, circulation filtration second grade filter core 16 in clear water case 4, further recycle again.
As shown in fig. 1 to 4, the small-sized autonomous floor washing robot further includes an autonomous water adding and draining system, the autonomous water adding and draining system includes a water injection pipe 10 capable of adding water into the clean water tank 4 by itself, a clean water filter element 32, a clean water liquid level float switch, and a clean water liquid level lower limit float switch for detecting whether the liquid level state reaches a lower limit. As shown in fig. 1 to 4, the small-sized autonomous floor cleaning robot can perform water filling to the water filling port 12 through the autonomous water filling and draining system, thereby performing autonomous water filling and sewage draining.
The specific operation of the autonomous water adding and draining system is as follows: water is drained into the clear water tank 4 through the automatic water injection pipe 10, and whether the clear water tank 4 is filled with clear water or not is judged by detecting the on-off state of a liquid level float ball of the clear water tank 4 in the clear water tank 4; the clear water filter element 32 is used for filtering the self-service water.
As shown in fig. 1 to 4, the small-sized autonomous floor washing robot further comprises an autonomous sewage draining system, wherein the autonomous sewage draining system comprises a sewage draining pipe 71 for conveying sewage, and a sewage draining outlet 74 is formed at the tail end of the sewage draining pipe 71; the autonomous sewage discharging system further comprises a sewage discharging filter element 75 communicated with the sewage tank 3, a sewage discharging booster pump 72 connected with the sewage discharging filter element 75, and a sewage discharging electric ball valve 73 arranged on the sewage discharging pipe 71 and used for detecting whether the liquid level state of the sewage meets the sewage discharging condition and discharging sewage. The sewage discharging booster pump 72 is used for adsorbing sewage, and a sewage liquid level upper limit float switch is arranged in the sewage tank 3 and used for detecting whether the liquid level state reaches the sewage upper limit. Specifically, the sewage filter element 75 in the sewage tank 3 is connected to the sewage booster pump 72 through the sewage pipe 71, and when the upper limit float switch of the sewage level is triggered, the valve of the sewage electric ball valve 73 is opened, so that the sewage passes through the sewage electric ball valve 73 and then is discharged through the sewage outlet 74.
As shown in fig. 1 to 4, the small-sized autonomous floor-cleaning robot of the present invention further includes an autonomous charging device. Meanwhile, due to the fact that the automatic water adding and discharging system and the automatic charging device are arranged, the automatic water adding and discharging system and the automatic charging device are correspondingly provided with a clear water outlet groove, a sewage receiving groove, a charging butt joint brush plate, a two-dimensional code plate, a drain outlet 74, a water inlet, a leakage circuit breaker, a power socket, a power switch button, an emergency stop button 14 and the like, all the components belong to the conventional arrangement of the floor washing robot, and are not described one by one.
In the utility model, the small-sized autonomous floor-cleaning robot also comprises a safe obstacle avoidance system; keep away barrier system including the laser module that is used for gathering clean regional image, set up ultrasonic sensor in order to survey the barrier on the organism, set up electron anticollision strip etc. on the anticollision leading wheel.
As shown in fig. 1-4, the utility model adopts a double-disc brush structure, in the utility model, the double-disc brush 1 and the water-absorbing groveling 2 can freely lift, the machine body is provided with a disc brush lifting mechanism for stably and horizontally lifting the driving disc brush 1, and the machine body is also provided with a water-absorbing groveling lifting mechanism for driving the water-absorbing groveling 2 to lift; the water absorption rake absorbs the sewage. The utility model discloses in, chassis driving system respectively adopts two left wheel hub motor and the right wheel hub motor 11 that drive the differential and arrange including arranging universal wheel 13 in advancing direction the place ahead about,.
In the utility model, the left wheel hub motor and the right wheel hub motor 11 are driving wheels; the left hub motor and the right hub motor 11 are used for driving the machine body to move forward or turn, and the left hub motor and the right hub motor 11 are large-torque anti-skid hub motors with the diameters of 140 mm; the universal wheels 13 are made of polyurethane, have an anti-skid effect and are more suitable for indoor scenes.
As shown in fig. 1 to 4, in the present invention, two disk brushes 1 are symmetrically arranged along a front universal wheel 13; the disc brush 1 can be driven by a disc brush lifting mechanism to lift.
In the utility model, as shown in fig. 1-4, the water absorption groveling 2 of the small-sized autonomous floor washing robot is an arc structure capable of swinging left and right, and the left and right swinging angle of the water absorption groveling 2 is 30 degrees; the water absorption groveling 2 can be lifted under the driving of the water absorption groveling lifting mechanism, two anti-collision guide wheels are arranged at the two ends of the head of the water absorption groveling 2, and the rear part of the water absorption groveling 2 is provided with an adjustable universal wheel 13 for adjusting the height of the water absorption groveling 2 rubber pressing the ground.
The utility model discloses a small-size autonomic floor cleaning robot still includes: the system comprises an electronic code visual navigation module, a WIFI module, a 4G route, an IMU, a two-dimensional code camera and an ultrasonic sensor, wherein the electronic code visual navigation module is used for positioning, the WIFI module and the 4G route are used for providing communication connection signals, the IMU is used for measuring the space coordinate and the acceleration of the small-sized autonomous floor washing robot, the two-dimensional code camera is used for accurately positioning and navigating in a close range, the ultrasonic sensor is used for scanning a path so as to avoid or bypass roadblocks, the WIFI module, the 4G route, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with an embedded mainboard.
Example 2:
the present embodiment provides a control system of a small-sized autonomous washing robot, as shown in fig. 5, the control system including:
a laser module for performing laser scanning to obtain an image of the cleaning area;
the industrial personal computer is communicated with the laser module;
the embedded mainboard is used for carrying out operation control according to information output by the industrial personal computer;
the small-sized automatic floor cleaning robot comprises a plurality of driving components connected with an embedded main board and a plurality of executing components driven by the driving components, wherein the executing components act to enable the small-sized automatic floor cleaning robot to perform the operations of walking, cleaning, automatic charging, automatic water adding and automatic pollution discharging; the pump also comprises a plurality of relays connected with the embedded mainboard, and the relays drive each valve or the pump body to act.
The driving part comprises: a chassis driving system for driving the machine body to move and turn, a left disk brush driver and a right disk brush driver for washing the ground, and a water absorption motor for absorbing and removing sewage; the chassis driving system comprises a push rod driving the machine body to move back and forth and a hub motor driving the machine body to turn.
The relay includes: a relay for controlling a water sprinkling valve, a relay for controlling a sewage filter pump, a relay for controlling a sewage filter valve, a relay for controlling a sewage pump and a relay for controlling a sewage valve.
As shown in fig. 5, an industrial personal computer establishes a path plan through an image acquired by a laser module, after the path is planned, the water spraying amount, the disc brush driving rotating speed and the water absorption motor 54 rotating speed are selected on an operation interface of the industrial personal computer, and then the industrial personal computer is started by one key, so that the small-sized autonomous floor washing robot moves under the driving action of a chassis driving system, and performs autonomous cleaning operation while walking;
as shown in fig. 5, the control system further includes: the system comprises an electronic code visual navigation device, a WIFI module and a 4G route, an IMU (inertial measurement unit) for measuring the space coordinate and acceleration of the small autonomous floor washing robot, a two-dimensional code camera for accurately positioning and navigating in a close range and an ultrasonic sensor for scanning a path to avoid or bypass roadblocks, wherein the electronic code visual navigation device is arranged on a machine body and used for accurately positioning the tail end of the robot, the WIFI module and the 4G route are used for providing communication connection signals; the WIFI module, the 4G router, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with the embedded mainboard; the small-sized autonomous floor washing robot reaches the position 1 m before the charging and water adding and draining station, and is switched into electronic code visual navigation for accurate positioning.
As shown in fig. 5, the control system further includes an electronic anti-collision strip disposed on the body and a float switch for controlling the sewage level and the clean water level, wherein the float switch and the electronic anti-collision strip are both in communication with and controlled by the embedded motherboard.
The small-sized automatic floor washing robot is controlled according to the following steps, specifically as shown in S1-S6:
s1: the small-sized autonomous floor washing robot acquires images through the laser SLAM module and performs positioning and path navigation planning;
s2: the industrial personal computer calculates the movement direction and speed according to the planned navigation path, and sends out left hub motor control/right hub motor 11 control, water quantity control, left disc brush motor/right disc brush motor control, water absorption motor 54 start control, rotating speed control and the like through RS232 communication according to a planned communication protocol;
s2-1: the embedded mainboard receives a speed instruction of the left hub motor/the right hub motor 11 sent by the industrial personal computer through RS232 communication, and sends the driving wheel speed of the left hub motor/the right hub motor 11 to the servo driver through the CAN bus; the servo driver controls the rotation of the left hub motor/right hub motor 11, the servo driver uploads mileometers, rotating speeds, fault equivalence related to the hub motors to the embedded mainboard through the CAN, and the embedded mainboard is uploaded to the industrial personal computer through RS232 to serve as feedback;
s3: when the cleaning task is started, the industrial personal computer issues water distribution control, a left disc brush motor, a right disc brush motor and a water absorption motor 54 starting and rotating speed instructions which are communicated by RS 232;
s3-1: the embedded mainboard receives a corresponding instruction sent by the industrial personal computer through RS232 communication, starts the right disc brush motor of the left disc brush motor and sends speed data to a driver of the right disc brush motor of the left disc brush motor through RS232 communication, and then the driver of the right disc brush motor of the left disc brush motor controls the operation of the right disc brush motor of the left disc brush motor;
s3-2: the water quantity control is that the embedded mainboard controls the switch of a water sprinkling valve 8 through a relay, after the clean water in a clean water tank 4 is filtered once through a clean water filter element 32, the clean water sprinkling pipe 3 is connected to the water sprinkling valve 8 and is divided into two paths of water paths for sprinkling, and the sprinkled water is cleaned on the ground through the rotating brush hair of a left disc brush motor and a right disc brush motor;
s3-3: when cleaning, the water absorption motor 54 receives the pulse signal of the embedded mainboard changed by PWM to rotate at high speed, and the suction force higher than 18KPA generated by the high-speed rotation of the water absorption motor 54 is connected to the air outlet of the sewage tank 3 through the sewage pumping pipe 55; after being gathered and collected by the water absorption groveling 2, the sewage generated by cleaning enters the sewage tank 3 through the sewage absorption pipe 52, the sewage is sprayed into the sewage filter bag through the sewage absorption pipe 56, and the garbage and large-particle silt are filtered and collected through the filter bag;
s4: when the limit float switch on the sewage liquid level of the sewage tank 3 is triggered and the limit float switch on the clear water liquid level of the clear water tank 4 is triggered, the related state is collected through the embedded mainboard and is uploaded to the industrial personal computer through RS232, the industrial personal computer makes a corresponding decision through the information uploaded by the embedded mainboard, and the cleaning task is finished;
s5: after the cleaning task is finished, the small-sized automatic floor cleaning robot starts automatic charging and water adding and sewage discharging, and the robot navigates to generate a path from the current point to a charging and water adding and discharging station; the robot reaches a position 1 m before a charging and water adding and draining station according to the path, two-dimensional code visual navigation is switched to perform terminal fine positioning navigation, after the robot is in butt joint with the charging and water adding and draining station, TCP/IP connection with the charging and water adding and draining station WIFI module is actively established by a WIFI module on the industrial personal computer, and after communication is successful, functions of autonomous charging, autonomous water adding, autonomous pollution discharging and the like are issued by the industrial personal computer; of course, the 1 m distance here may be other distances such as 0.8 m or 1.1 m, and the two-dimensional code may be replaced by a bar code;
s5-1: when the embedded mainboard receives an autonomous charging instruction, the relay of the embedded mainboard is controlled to control the charging enabling contactor, a charger in the charging and charging station detects the voltage on the brush plate and then performs charging operation, and when the electric quantity is charged to a set value, the charging enabling contactor is closed;
s5-2: when the charging and water adding and draining station receives an autonomous water adding instruction, a water inlet electromagnetic valve is opened, tap water is injected into a water injection port 12 of the robot through the electromagnetic valve and flows through a water injection pipe 10 to drain water into the clean water tank 4, when the embedded main board detects that a limit floating ball switch is triggered on the clean water liquid level of the clean water tank 4, the limit floating ball switch is uploaded to an industrial personal computer, then the industrial personal computer makes a decision of stopping water adding, a water stopping instruction is issued through WIFI communication, and when the charging and water adding and draining station receives the water stopping instruction, the electromagnetic valve is closed, so that the small-sized autonomous floor washing robot is closed and completes the tasks of charging and water adding and draining;
s5-3: after the embedded main board receives an autonomous sewage discharge instruction, the relay is controlled to control the sewage discharge booster pump 72 and the sewage discharge electric ball valve 73 to be opened, sewage in the sewage tank 3 flows through the sewage discharge pipe 71 through the sewage discharge filter element 75, the sewage is discharged through the sewage discharge electric ball valve 73 after being pressurized by the sewage discharge booster pump 72, the sewage is collected by the sewage receiving tank of the charging and water adding and discharging station, the sewage discharged by the small-sized autonomous floor washing robot is discharged to a designated area finally; when the embedded main board detects that the limit float switch is triggered under the sewage level of the sewage tank 3, the sewage level is uploaded to the industrial personal computer, then the industrial personal computer makes a sewage discharge stopping decision and sends a sewage discharge stopping instruction to the embedded main board, and after the embedded main board receives the sewage discharge stopping instruction, the sewage discharge booster pump 72 and the sewage discharge electric ball valve 73 are controlled to be closed through the control relay, so that the small-sized autonomous floor washing robot is closed and completes a sewage discharge task.
S6: after the automatic charging, the water adding and the pollution discharging, the small-sized automatic ground washing robot returns to the area which does not finish the ground washing work according to the path navigation to continue to finish the subsequent ground washing work until the small-sized automatic ground washing robot finishes all ground washing tasks, and then the small-sized automatic ground washing robot returns to the initial position when the ground washing is not started in the step S1 through the automatic navigation to start the next ground washing task.
The specific embodiments described herein are merely illustrative of the spirit of the invention; various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Claims (10)
1. The utility model provides a small-size automatic ground washing robot, includes the organism, is used for washing dish brush (1), sets up the chassis actuating system who is used for absorbing water of sewage and lies prone (2), drive organism walking and turns to at dish brush (1) rear, its characterized in that still includes: the sewage treatment system comprises a water adding and draining system capable of spraying water on the ground, a sewage circulating and filtering system for purifying sewage to be recycled, and a control system, wherein the control system is in communication connection with each system;
the sewage circulating and filtering system comprises a sewage tank (3) and a clean water tank (4) which are arranged on a machine body, a sewage primary filter element (51) for primary filtering of sewage is arranged in the sewage tank (3), and a filter pump for secondary filtering of sewage and sucking of the filtered sewage to the clean water tank (4) is also arranged in the sewage tank (3); a circulating filter element for purifying the sewage again is arranged in the clear water tank (4);
the sewage recovered by the sewage tank (3) is filtered and recovered by a sewage primary filter element (51) and a filter pump, then is supplemented into the clean water tank (4), and is recycled after being filtered by a circulating filter element in the clean water tank (4).
2. The small-sized autonomous floor washing robot according to claim 1, wherein a sewage level upper limit float switch for detecting whether the liquid level state reaches a sewage upper limit is further provided in the sewage tank (3); the circulating filter element sequentially comprises: a first-stage filter element (15) for circulating filtration and a second-stage filter element (16) for circulating filtration.
3. The small autonomous floor washing robot of claim 1, wherein the fill and drain system comprises: the clean water tank comprises a water injection pipe (10) capable of injecting water into the clean water tank (4), a clean water filter element (32) for filtering the water injected from the water injection pipe (10), and a float switch for detecting the upper and lower limit water levels in the clean water tank (4).
4. A small autonomous floor scrubbing robot as recited in claim 1, further comprising an autonomous soil exhaust system, said autonomous soil exhaust system comprising: the sewage treatment device comprises a sewage discharge filter element (75), a sewage discharge booster pump (72), a sewage discharge pipe (71), a sewage discharge electric ball valve (73) for detecting whether the liquid level of sewage reaches a sewage discharge condition or not, wherein sewage in a sewage tank (3) is discharged from the sewage discharge pipe (71) after being pressurized by the sewage discharge booster pump (72) after being filtered by the sewage discharge filter element (75).
5. A small autonomous floor washing robot as recited in claim 1 wherein said chassis drive system comprises: the universal wheel (13) is positioned in front of the advancing direction, and the driving wheels are positioned in front of the advancing direction and distributed left and right, and are driven by the hub motor in a differential mode.
6. A small autonomous floor washing robot according to claim 1, characterized in that said disc brush (1) has two, symmetrically distributed along the chassis midline; the disc brush (1) can be driven by a disc brush lifting mechanism to lift; the water absorption groveling (2) is an arc-shaped structure capable of swinging left and right, and the water absorption groveling (2) can be driven by the water absorption groveling lifting mechanism to lift.
7. The small autonomous floor washing robot of claim 1, further comprising: the system comprises an electronic code visual navigation module, a WIFI module, a 4G route, an IMU, a two-dimensional code camera and an ultrasonic sensor, wherein the electronic code visual navigation module is used for positioning, the WIFI module and the 4G route are used for providing communication connection signals, the IMU is used for measuring the space coordinate and the acceleration of the small-sized autonomous floor washing robot, the two-dimensional code camera is used for accurately positioning and navigating in a close range, the ultrasonic sensor is used for scanning a path so as to avoid or bypass roadblocks, the WIFI module, the 4G route, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with an embedded mainboard.
8. The small autonomous floor washing robot of claim 1, further comprising a safety obstacle avoidance system; the obstacle avoidance system comprises: the device comprises a laser module for collecting images of a cleaning area, an ultrasonic sensor arranged on the machine body to detect obstacles, and an electronic anti-collision strip.
9. A small-sized autonomous floor washing robot control system, comprising: the small-sized autonomous floor cleaning robot comprises a laser module for scanning laser to obtain images of a cleaning area, an industrial personal computer for communicating and transmitting with the laser module, an embedded main board for performing operation control according to information output by the industrial personal computer, a plurality of driving components connected with the embedded main board, and a plurality of executing components driven by the driving components, wherein the executing components act to enable the small-sized autonomous floor cleaning robot to perform walking, cleaning, autonomous charging, autonomous water adding and autonomous pollution discharging operations.
10. The small autonomous floor washing robot control system of claim 9, further comprising: the system comprises an electronic code visual navigation module, a WIFI module, a 4G route, an IMU, a two-dimensional code camera and an ultrasonic sensor, wherein the electronic code visual navigation module is used for positioning, the WIFI module and the 4G route are used for providing communication connection signals, the IMU is used for measuring the space coordinate and the acceleration of the small-sized autonomous floor washing robot, the two-dimensional code camera is used for accurately positioning and navigating in a close range, the ultrasonic sensor is used for scanning a path so as to avoid or bypass roadblocks, the WIFI module, the 4G route, the IMU and the two-dimensional code camera are in communication connection with an industrial personal computer, and the ultrasonic sensor is in communication connection with an embedded mainboard.
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