CN216586343U - Intelligent cleaning equipment service device and intelligent cleaning equipment - Google Patents
Intelligent cleaning equipment service device and intelligent cleaning equipment Download PDFInfo
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- CN216586343U CN216586343U CN202121562740.6U CN202121562740U CN216586343U CN 216586343 U CN216586343 U CN 216586343U CN 202121562740 U CN202121562740 U CN 202121562740U CN 216586343 U CN216586343 U CN 216586343U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The utility model relates to an intelligent cleaning equipment service device which is characterized by comprising a first control module, a water adding device and a sewage discharging device, wherein: the first control module is used for controlling the water adding device to add water into the intelligent cleaning equipment when receiving a water adding indication signal sent by the intelligent cleaning equipment; and when a pollution discharge indication signal sent by the intelligent cleaning equipment is received, controlling a pollution discharge device to discharge pollution to the intelligent cleaning equipment.
Description
Technical Field
The utility model relates to the field of charging, water adding and sewage discharging of intelligent cleaning equipment, in particular to an intelligent cleaning equipment service device and intelligent cleaning equipment.
Background
With the development and popularization of unmanned technologies, intelligent cleaning devices, such as unmanned floor-washing vehicles, start to land and operate on a large scale. Unmanned ground washing vehicles have been developed in great length as the current important landing direction. In the operation process of the unmanned ground washing vehicle, the charging, water adding, pollution discharging and the like of the vehicle still depend on manual intervention. Manual intervention increases the operating cost of the unmanned ground washing vehicle. The integrated design of water adding and pollution discharging of the intelligent cleaning equipment is not realized in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an intelligent cleaning equipment service device and intelligent cleaning equipment aiming at the defects of the prior art, and aims to solve the problem that water adding and sewage discharging cannot be integrated in the prior art.
In order to solve the above problems, in a first aspect, the present invention provides an intelligent cleaning device service apparatus, including a first control module, a water adding device, and a sewage draining device, wherein:
the first control module is used for controlling the water adding device to add water to the intelligent cleaning equipment when receiving a water adding indication signal sent by the intelligent cleaning equipment; and when a pollution discharge indicating signal sent by the intelligent cleaning equipment is received, controlling the pollution discharge device to discharge pollution to the intelligent cleaning equipment.
In one possible implementation, the water adding device comprises a first pair of interfaces, a water tank and a first water valve; the first pair of interfaces is used for being in butt joint with a water inlet of an automatic water adding device of the intelligent cleaning equipment; the water tank is used for storing water and providing a water injection source for the intelligent cleaning equipment;
the first control module controls the first water valve to be opened when receiving the water adding indication signal; and when receiving a water adding stopping indication signal sent by the intelligent cleaning equipment, controlling the first water valve to be closed.
In one possible implementation manner, the water adding device further comprises a first water level monitoring module and a second water valve;
the first water level monitoring module is used for detecting the water level of the water tank and sending the detected water level information to the first control module;
the first control module is used for generating a water valve opening control signal when water supplement is determined to be needed according to the water level information so as to control the second water valve to be opened to fill water into the water tank; and generating a water valve closing control signal when water supplement is determined not to be needed according to the water level information so as to control the second water valve to be closed to stop water injection.
In one possible implementation manner, the sewage draining device comprises a second pair of connectors, a sewage buffer zone, a water pump and a sewage draining outlet which are connected in sequence; the second pair of interfaces is used for being butted with a sewage outlet of an automatic sewage draining device of the intelligent cleaning equipment;
the first control module controls the water pump to start when receiving a pollution discharge indication signal sent by the intelligent cleaning equipment, and discharges sewage of the intelligent cleaning equipment through a sewage discharge port after the sewage is buffered by the sewage buffer zone; and when receiving a pollution discharge finishing indication signal sent by the intelligent cleaning equipment, controlling the water pump to stop working.
In one possible implementation manner, the intelligent cleaning device service device further comprises a charging device;
the first control module is used for controlling the charging device to charge the intelligent cleaning equipment when receiving a charging indication signal sent by the intelligent cleaning equipment.
In one possible implementation, the charging device includes a charging module and a charging contact terminal; one end of the charging module is connected with the mains supply circuit, and the other end of the charging module is connected with the charging contact terminal; the charging contact terminal is in contact with a charging terminal of a battery of the intelligent cleaning device in the charging process;
when receiving the charging indication signal, the first control module controls the charging module to output electric energy and charge the battery; and when receiving a charging end indication signal sent by the intelligent cleaning equipment, the first control module controls the charging module not to output electric energy.
In one possible implementation manner, the surface of the housing of the intelligent cleaning device service device is provided with a feature recognition structure for the intelligent cleaning device to scan to obtain the parking positioning assistance information.
In one possible implementation manner, the feature recognition structure includes a hollow two-dimensional code, a planar two-dimensional code, or a reflector.
In one possible implementation, the intelligent cleaning device service apparatus further includes an infrared receiver;
the infrared receiver is used for sending an infrared signal to the first control module when receiving the infrared signal sent by the intelligent cleaning equipment;
when the first control module receives an infrared signal sent by the infrared receiver, the automatic water adding device, the automatic sewage discharging device and the automatic charging device of the intelligent cleaning equipment are determined to be respectively aligned with the water adding device, the sewage discharging device and the charging device of the intelligent cleaning equipment service device.
In a second aspect, the utility model provides an intelligent cleaning device, which comprises a second control module, an automatic water adding device and an automatic sewage draining device;
the second control module sends a water adding indication signal to the intelligent cleaning equipment service device when determining that water needs to be added to the automatic water adding device, so that the intelligent cleaning equipment service device can conveniently fill water into a clear water tank of the automatic water adding device; and when determining that sewage needs to be drained from the sewage tank of the automatic sewage draining device, sending a sewage draining indication signal to the intelligent cleaning equipment so that the intelligent cleaning equipment service device can drain the sewage in the sewage tank of the automatic sewage draining device.
In one possible implementation manner, the automatic water adding device comprises a water inlet, a water inlet pipe and a clean water tank which are connected in sequence; the water inlet is used for being in butt joint with a first pair of interfaces of the intelligent cleaning equipment service device; the clear water tank is used for storing water.
In a possible implementation manner, the automatic water adding device further comprises a second water level monitoring module;
the second water level monitoring module is used for monitoring the water level of the clean water tank and sending the monitored water level information of the clean water tank to the second control module;
and the second control module is used for sending a water adding indicating signal to the intelligent cleaning equipment service device when determining that water needs to be added according to the water level information of the clear water tank, and sending a water adding stopping indicating signal to the intelligent cleaning equipment service device when determining that water adding is stopped according to the water level information of the clear water tank.
In one possible implementation, the automatic sewage draining device comprises a sewage tank, a third water valve, a water valve control circuit and a sewage draining outlet; the sewage draining outlet is used for being in butt joint with a second pair of interfaces of the intelligent cleaning equipment service device;
the second control module sends a valve opening signal to the water valve control circuit when determining that sewage needs to be discharged to a sewage tank of the automatic sewage discharging device; when the end of pollution discharge is determined, a valve closing signal is sent to the water valve control circuit;
the water valve control circuit opens the third water valve when receiving the valve opening signal; and closing the third water valve upon receiving the valve closing signal.
In one possible implementation manner, the automatic sewage draining device further comprises a third water level monitoring module;
the third water level monitoring module is used for monitoring the water level of the sewage tank and sending the monitored water level information of the sewage tank to the second control module;
the second control module is used for controlling, when determining that sewage needs to be discharged to the sewage tank of the automatic sewage discharge device according to the water level information of the sewage tank, sending a sewage discharge indication signal to the intelligent cleaning equipment service device and sending a valve opening signal to the water valve control circuit; and when the sewage discharge is determined to be finished according to the sewage tank water level information, sending a sewage discharge finishing indication signal to an intelligent cleaning service device, and sending a valve closing signal to the water valve control circuit.
In a possible implementation manner, the device further comprises an automatic charging device;
and the second control module sends a charging indication signal to the intelligent cleaning equipment service device when determining that the automatic charging device needs to be charged, so that the intelligent cleaning equipment service device can charge the automatic charging device.
In one possible implementation, the automatic charging device comprises a battery and a charging terminal, one end of the charging terminal is connected with the battery, and the other end of the charging terminal is used for being in contact with a charging contact terminal of the intelligent cleaning device service device.
In a possible implementation manner, the intelligent cleaning device further comprises a scanning device, and the scanning device is used for scanning the feature recognition structure of the intelligent cleaning device service device so as to scan auxiliary information for assisting the intelligent cleaning device in parking and positioning.
In a possible implementation, the scanning device is a laser radar or a camera.
In one possible implementation, the intelligent cleaning device further comprises an infrared emitter, wherein:
and the infrared transmitter sends an infrared signal to the intelligent cleaning equipment service device.
In a third aspect, the utility model provides an intelligent cleaning device service device, which comprises a first control module, a charging device and an infrared receiver;
the first control module is used for controlling the charging device to charge the intelligent cleaning equipment when receiving a charging indication signal sent by the intelligent cleaning equipment;
the infrared receiver is used for sending an infrared signal to the first control module when receiving the infrared signal sent by the intelligent cleaning equipment;
the first control module determines that an automatic charging device of the intelligent cleaning equipment is aligned with a charging device of the intelligent cleaning equipment service device when receiving an infrared signal sent by the infrared receiver.
In one possible implementation manner, the surface of the housing of the intelligent cleaning device service device is provided with a feature recognition structure for the intelligent cleaning device to scan to obtain the parking positioning assistance information.
In a fourth aspect, the utility model provides an intelligent cleaning device, which comprises a second control module, an automatic charging device and an infrared transmitter;
the second control module sends a charging indication signal to the intelligent cleaning equipment service device when the automatic charging device is determined to need to be charged, so that the intelligent cleaning equipment service device can charge the automatic charging device;
and the infrared transmitter sends an infrared signal to the intelligent cleaning equipment service device.
In a possible implementation manner, the intelligent cleaning device further comprises a scanning device, and the scanning device is used for scanning the feature recognition structure of the intelligent cleaning device service device so as to scan auxiliary information for assisting the intelligent cleaning device in parking and positioning.
By applying the intelligent cleaning equipment service device provided by the utility model, water adding and sewage discharging services can be automatically provided for the intelligent cleaning equipment, and the intelligent cleaning equipment integrates water adding and sewage discharging, so that the treatment speed during water adding and sewage discharging is improved.
Drawings
Fig. 1 is a first schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 2 is a second schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 3 is a third schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 4 is a fourth schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 5 is a fifth schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 6 is a sixth schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 7 is a seventh schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 8 is an eighth schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention;
fig. 9 is a first schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 10 is a second schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 11 is a third schematic view of an intelligent cleaning device according to the second embodiment of the present invention;
fig. 12 is a fourth schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 13 is a fifth schematic view of an intelligent cleaning device according to the second embodiment of the present invention;
fig. 14 is a sixth schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 15 is a seventh schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 16 is an eighth schematic view of an intelligent cleaning device according to a second embodiment of the present invention;
fig. 17 is a ninth schematic view of an intelligent cleaning device according to the second embodiment of the present invention;
fig. 18 is a first schematic view of an intelligent cleaning device service apparatus according to a third embodiment of the present invention;
fig. 19 is a second schematic view of an intelligent cleaning device service apparatus according to a third embodiment of the present invention;
fig. 20 is a first schematic view of an intelligent cleaning device according to a fourth embodiment of the utility model;
fig. 21 is a second schematic view of an intelligent cleaning device according to a fourth embodiment of the utility model;
fig. 22 is a first schematic view of an intelligent cleaning device service apparatus according to a fifth embodiment of the present invention;
fig. 23 is a second schematic view of an intelligent cleaning device service apparatus according to a fifth embodiment of the present invention;
fig. 24 is a schematic view of an intelligent cleaning device service apparatus and an intelligent cleaning device in use according to a fifth embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the utility model. It should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The utility model provides an intelligent cleaning equipment service device and intelligent cleaning equipment.
Example one
Fig. 1 is a first schematic view of an intelligent cleaning device service apparatus according to an embodiment of the present invention, and as shown in fig. 1, the intelligent cleaning device service apparatus 1 includes: a first control module 11, a water adding device 12 and a pollution discharge device 13, wherein:
the first control module 11 is used for controlling the water adding device 12 to add water into the intelligent cleaning equipment 2 when receiving a water adding indication signal sent by the intelligent cleaning equipment 2; and when receiving a pollution discharge indication signal sent by the intelligent cleaning equipment 2, controlling the pollution discharge device 13 to discharge pollution to the intelligent cleaning equipment 2.
Therefore, when the intelligent cleaning equipment service device 1 receives the water adding indication signal or the pollution discharge indication signal of the intelligent cleaning equipment 2, water adding or pollution discharge can be automatically carried out.
Communication modes such as 4G, 5G, bluetooth, wifi can be passed through between intelligent cleaning device service equipment 1 and the intelligent cleaning device 2, specifically adopts what kind of communication mode to communicate, and technical personnel in the art can set up according to actual demand is nimble, and this application does not do the strict limitation.
In an alternative embodiment, the water adding device 12 in the intelligent cleaning device service device shown in fig. 1 includes a first pair of interfaces 121, a water tank 122 and a first water valve 123; as shown in fig. 2. The first pair of interfaces 121 is used for interfacing with the water inlet 221 of the automatic water adding device 22 of the intelligent cleaning device 2; the water tank 122 is used for storing water and providing a water injection source for the intelligent cleaning device 2;
when receiving the water adding indication signal, the first control module 11 controls the first water valve 123 to open; and when receiving a water adding stop indication signal sent by the intelligent cleaning device 2, controlling the first water valve 123 to be closed.
Specifically, the first water valve 123 is a water valve that controls whether water in the water tank 122 flows into the intelligent cleaning device 2, and the first control module 11 controls whether water is added to the intelligent cleaning device 2 by controlling the opening or closing of the first water valve 123. After the first water valve 123 is opened, the pressure of the water tank 122 of the intelligent cleaning device service apparatus 1 is greater than the pressure of the clean water tank 223, so that automatic water adding to the intelligent cleaning device 2 is realized, and after the first water valve 123 is closed, water adding to the intelligent cleaning device 2 is stopped. In some alternative embodiments, the first water valve 123 may be a waterway solenoid valve.
In an alternative embodiment, the water adding device 12 in the intelligent cleaning device service device shown in fig. 2 further includes a first water level monitoring module 124 and a second water valve 125, as shown in fig. 3.
A first water level monitoring module 124 for detecting the water level of the water tank 122 and sending the detected water level information to the first control module 11;
the first control module 11 is configured to generate a water valve opening control signal when it is determined that water needs to be replenished according to the water level information, so as to control the second water valve 125 to open to fill the water tank 122 with water; and generating a water valve closing control signal when the water replenishing is determined not to be needed according to the water level information so as to control the second water valve 125 to be closed to stop the water filling.
Specifically, the second water valve 125 is a water valve for controlling whether or not the water of the clean water pipe flows into the water tank 122 of the intelligent cleaning device service apparatus 1. The clean water pipe can be connected with municipal water. The first water level monitoring module 124 may be a water level sensor, and is disposed in the water tank 122, and is capable of detecting water level information of the water tank 122 in real time, and sending the obtained water level information to the first control module 11, where the first control module 11 compares a water level value in the water level information with a preset first lower water level threshold, and determines that water needs to be added if the water level value is less than or equal to the first lower water level threshold, otherwise determines that water does not need to be added. When water needs to be added, the second water valve 125 is controlled to be opened and water is added to the water tank 122, meanwhile, the first water level monitoring module 124 continuously sends the water level information acquired in real time to the first control module 11, when the first control module 11 judges that the water level value in the water level information reaches the preset first water level upper limit threshold value, a water valve closing control signal is generated, and the second water valve 125 is closed. Therefore, the intelligent cleaning device service device 1 can automatically replenish water in the water tank 122 of the water adding device 12 or stop water filling according to the water level information, so as to ensure that enough water is always stored in the water tank 122 of the water adding device 12.
In an alternative embodiment, in the intelligent cleaning device service apparatus shown in fig. 1, 2 or 3, the sewage draining device 13 comprises a second pair of interfaces 131, a sewage buffer belt 132, a water pump 133 and a sewage discharge port 134 which are connected in sequence. As shown in fig. 4.
The second pair of interfaces 131 is used for being butted with a sewage outlet 234 of the automatic sewage draining device 23 of the intelligent cleaning equipment 2;
when receiving a pollution discharge indication signal sent by the intelligent cleaning device 2, the first control module 11 controls the water pump 133 to start, buffers the sewage of the intelligent cleaning device 2 through the sewage buffer zone 132, and discharges the sewage through the sewage discharge port 134; and controlling the water pump 133 to stop working when receiving the pollution discharge finishing indication signal sent by the intelligent cleaning device 2.
Specifically, first control module 11 can control water pump 133 according to the blowdown indicating signal that intelligent cleaning device 2 sent and start, and water pump 133 starts the back, and intelligent cleaning device 2's sewage is taken out, cushions through sewage buffering area 132 earlier to avoid leading to sewage excessive because the dirt blocks, after the buffering, through sewage discharge port 134 discharge. The other end of the sewage discharge port 134 here may be connected to a municipal sewage pipe for sewage discharge.
In an alternative embodiment, the intelligent cleaning device service device shown in the foregoing fig. 1 or fig. 2 or fig. 3 or fig. 4 further includes a charging device 14, as shown in fig. 5.
First control module 11, when receiving the charging instruction signal sent by intelligent cleaning device 2, controls charging device 14 to charge intelligent cleaning device 2.
In an alternative embodiment, in the aforementioned intelligent cleaning device service apparatus 1 shown in fig. 5, the charging apparatus 14 includes a charging module 141 and a charging contact terminal 142, as shown in fig. 6.
One end of the charging module 141 is connected to the mains supply circuit, and the other end is connected to the charging contact terminal 142; the charging contact terminal 142 contacts the charging terminal 242 of the battery 241 of the smart cleaning apparatus 2 during charging;
when receiving the charging instruction signal, the first control module 11 controls the charging module 141 to output electric energy and charge the battery 241; and when receiving the charging end instruction signal sent by the intelligent cleaning device 2, the first control module 11 controls the charging module 141 not to output electric energy, so as to ensure the safety of power utilization.
In an alternative embodiment, a feature recognition structure 15 for scanning by the intelligent cleaning device 2 to obtain the parking assistance information is provided on the surface of the housing of the intelligent cleaning device service apparatus shown in fig. 1, 2, 3, 4, 5 or 6. As shown in fig. 7.
Wherein, the feature recognition structure 15 may include a hollow two-dimensional code, a planar two-dimensional code, or a reflector.
Specifically, feature identification structure 15 contains fretwork two-dimensional code or reflector panel, can obtain the laser point cloud data by the laser radar scanning of intelligent cleaning device 2, provides perception information for intelligent cleaning device 2 to fix a position and park into a position etc..
In an alternative embodiment, the intelligent cleaning device service apparatus 1 shown in the foregoing fig. 1 or fig. 2 or fig. 3 or fig. 4 or fig. 5 or fig. 6 or fig. 7 further includes an infrared receiver 16; as shown in fig. 8.
The infrared receiver 16 is used for sending an infrared signal to the first control module 11 when receiving the infrared signal sent by the intelligent cleaning device 2;
the first control module 11, upon receiving the infrared signal transmitted by the infrared receiver 16, determines that the automatic water adding device 22, the automatic dirt discharging device 23, and the automatic charging device 24 of the intelligent cleaning apparatus 2 are aligned with the water adding device 12, the dirt discharging device 13, and the charging device 14 of the intelligent cleaning apparatus service set 1, respectively. Namely, the water inlet 221 of the automatic water adding device 22 is aligned with the first pair of interfaces 121 of the water adding device 12; the waste outlet 234 of the automatic waste fitting 23 is aligned with the second pair of interfaces 131 of the waste fitting 13; the charging terminal 242 of the automatic charging device 24 is aligned with the charging contact terminal 142 of the charging device 14.
In a particular embodiment, the automatic water adding device 22, or the automatic dirt discharge device 23 of the intelligent cleaning device 2, or the automatic charging device 24 detects that the intelligent cleaning device 2 needs to be added with water or drained, or when charging, the intelligent cleaning device 2 is automatically positioned to the nearest intelligent cleaning device service device 1, and automatically cruising to the designated position of the intelligent cleaning device service apparatus 1, the scanning device 25 scans the two-dimensional code of the feature recognition structure 15 of the intelligent cleaning device service apparatus 1, or the reflector or the planar two-dimensional code, to obtain the positioning auxiliary information of the intelligent cleaning device service apparatus 1, the positioning assistance information includes three-dimensional position information and orientation information, and the second control module 21 of the intelligent cleaning apparatus 2 adjusts the current pose of the intelligent cleaning apparatus 2 according to the three-dimensional position information and the orientation information. In the embodiment of the present invention, the infrared emitter 26 of the intelligent cleaning device 2 emits an infrared signal, and the infrared receiver 16 of the intelligent cleaning device service apparatus 1 can receive the infrared signal only when the following conditions are satisfied: condition 1, the water inlet 221 of the automatic water adding device 22 is aligned with the first pair of interfaces 121 of the water adding device 12; condition 2, the waste outlet 234 of the automatic waste fitting 23 is aligned with the second pair of interfaces 131 of the waste fitting 12; condition 3, the charging terminal 242 of the automatic charging device 24 is aligned with the charging contact terminal 142 of the charging device 14. Of course, if the intelligent cleaning device service apparatus 1 does not include the charging apparatus 14, but only includes the water adding apparatus 12 and the sewage draining apparatus 13, the foregoing conditions may be satisfied only by the conditions 1 and 2. If the intelligent cleaning device service device 1 only has the charging device 14 and does not have the water adding device 12 and the sewage draining device 13, the above condition can be satisfied only by the condition 3.
The first control module 11 of the intelligent cleaning device service device 1 controls the charging device 14 to charge according to the received charging indication signal; the first control module 11 of the intelligent cleaning equipment service device 1 controls the water adding device 12 to add water according to the received water adding indication signal; the first control module 11 of the intelligent cleaning equipment service device 1 controls the pollution discharge device 13 to discharge pollution according to the received pollution discharge indication signal.
Example two
Fig. 9 is a first schematic view of an intelligent cleaning device according to a second embodiment of the present invention. As shown in fig. 9, the intelligent cleaning device 2 includes a second control module 21, an automatic water adding device 22 and an automatic sewage draining device 23;
the second control module 21 is used for sending a water adding indication signal to the intelligent cleaning equipment service device 1 when the automatic water adding device 22 needs to be added with water, so that the intelligent cleaning equipment service device 1 can conveniently fill water into the clean water tank 223 of the automatic water adding device 22; and, when it is determined that the sewage tank 231 of the automatic sewage draining device 23 needs to be drained, sending a sewage draining instruction signal to the intelligent cleaning apparatus 2 so that the intelligent cleaning apparatus servicing device 1 drains the sewage in the sewage tank 231 of the automatic sewage draining device 23.
Thus, the intelligent cleaning device 2 can automatically perform water addition and/or sewage discharge by transmitting a water addition instruction signal and/or a sewage discharge instruction signal to the intelligent cleaning device service apparatus 1.
In an alternative embodiment, the automatic water adding device 22 of the intelligent cleaning device 2 shown in fig. 9 comprises a water inlet 221, a water inlet pipe 222 and a clean water tank 223 which are connected in sequence; as shown in fig. 10.
The water inlet 221 is used to interface with the first pair of interfaces 121 of the intelligent cleaning device service set 1; the clean water tank 223 is used to store water.
In an alternative embodiment, the automatic water adding device 22 of the intelligent cleaning device 2 shown in fig. 10 further comprises a second water level monitoring module 224; as shown in fig. 11.
The second water level monitoring module 224 is configured to monitor the water level of the clean water tank 223, and send the monitored water level information of the clean water tank 223 to the second control module 21;
and the second control module 21 is configured to send a water adding instruction signal to the intelligent cleaning device service apparatus 1 when determining that water needs to be added according to the water level information of the clean water tank 223, and send a water adding stop instruction signal to the intelligent cleaning device service apparatus 1 when determining that water adding is stopped according to the water level information of the clean water tank 223.
Specifically, the second water level monitoring module 224 may be a water level sensor, and may be disposed in the clean water tank 223. The second water level monitoring module 224 in the intelligent cleaning device 2 acquires the water level information of the clear water tank 223 in real time, and sends the acquired water level information of the clear water tank 223 to the second control module 21, the second control module 21 determines whether to generate a water adding indicating signal according to whether the water level value in the water level information of the clear water tank 223 is smaller than a preset second lower water level threshold, when the water level value of the clear water tank 223 is smaller than the preset second lower water level threshold, the water adding indicating signal is generated, in the process of adding water by the intelligent cleaning device 2, the second water level monitoring module 224 acquires the water level information of the clear water tank 223 in real time, and when the second control module 21 determines that the water level value of the water level information of the clear water tank 223 reaches the preset second upper water level threshold, the water adding stopping indicating signal is generated, and water adding is stopped.
In an alternative embodiment, the automatic sewage device 23 of the intelligent cleaning apparatus 2 shown in the previous fig. 9, or fig. 10, or fig. 11 comprises a sewage tank 231, a third water valve 232, a water valve control circuit 233, and a sewage drain 234, as shown in fig. 12.
The sewage drain 234 is used for interfacing with the second pair of interfaces 131 of the intelligent cleaning device service apparatus 1;
when determining that sewage needs to be discharged to the sewage tank 231 of the automatic sewage discharging device 23, the second control module 21 sends a valve opening signal to the water valve control circuit 233; and, when it is determined that the draining is finished, a valve closing signal is sent to the water valve control circuit 233;
when the water valve control circuit 233 receives the valve opening signal, the third water valve 232 is opened; and upon receiving a valve closing signal, closing the third water valve 232.
In an alternative embodiment, the automatic sewage draining device 23 of the intelligent cleaning apparatus 2 shown in the previous fig. 9, or fig. 10, or fig. 11, or fig. 12 further comprises a third water level monitoring module 235. As shown in fig. 13.
A third water level monitoring module 235 for monitoring the water level of the sewage tank 231 and sending the monitored water level information of the sewage tank 231 to the second control module 21;
the second control module 21 controls to send a sewage discharge instruction signal to the intelligent cleaning equipment service device 1 and a valve opening signal to the water valve control circuit 233 when determining that sewage needs to be discharged to the sewage tank 231 of the automatic sewage discharge device 23 according to the water level information of the sewage tank 231; when the end of sewage discharge is determined according to the water level information of the sewage tank 231, a sewage discharge end instruction signal is transmitted to the intelligent cleaning service device, and a valve closing signal is transmitted to the water valve control circuit 233.
Specifically, the third water level monitoring module 235 may be a water level sensor, and may be disposed in the sewage tank 231. The third water level monitoring module 235 in the intelligent cleaning device 2 acquires the water level information of the sewage tank 231 in real time, and sends the acquired water level information of the sewage tank 231 to the second control module 21, the second control module 21 determines whether to generate a sewage discharge indication signal according to whether the water level value of the water level information of the sewage tank 231 is not less than the preset third water level upper threshold, when the water level value of the sewage tank 231 is not less than the preset third water level upper threshold, the sewage discharge indication signal is generated, in the process of discharging sewage by the intelligent cleaning device 2, the second water level monitoring module 224 acquires the water level information of the sewage tank 231 in real time, and when the second control module 21 determines that the water level value of the water level information of the sewage tank 231 reaches the preset third water level lower threshold, the sewage discharge stop indication signal is generated, and the sewage discharge is stopped.
In an alternative embodiment, the intelligent cleaning device 2 shown in the previous fig. 9, or fig. 10, or fig. 11, or fig. 12, or fig. 13 further comprises an automatic charging device 24; as shown in fig. 14.
The second control module 21, when determining that the automatic charging device 24 needs to be charged, sends a charging instruction signal to the intelligent cleaning device service apparatus 1, so that the intelligent cleaning device service apparatus 1 charges the automatic charging device 24.
In an alternative embodiment, the automatic charging device 24 of the intelligent cleaning apparatus 2 shown in the foregoing fig. 9, or fig. 10, or fig. 11, or fig. 12, or fig. 13, or fig. 14 includes a battery 241 and a charging terminal 242. As shown in fig. 15, the charging terminal 242 has one end connected to the battery 241 and the other end for contacting the charging contact terminal 142 of the intelligent cleaning device service set 1.
In an alternative embodiment, the intelligent cleaning device 2 shown in fig. 9, or fig. 10, or fig. 11, or fig. 12, or fig. 13, or fig. 14, or fig. 15 further includes a scanning device 25, as shown in fig. 16. And the scanning device 25 is used for scanning the characteristic identification structure 15 of the intelligent cleaning device service device 1 so as to scan auxiliary information for assisting the intelligent cleaning device 2 in parking and positioning.
The scanning device 25 is a laser radar or a camera. Laser radar can scan fretwork two-dimensional code or reflector panel to obtain auxiliary information and carry out intelligent cleaning device's assistance-localization real-time. The camera can scan plane two-dimensional code to obtain auxiliary information and carry out intelligent cleaning device's assistance-localization real-time.
In an alternative embodiment, the intelligent cleaning device 2 shown in the previous fig. 9, or fig. 10, or fig. 11, or fig. 12, or fig. 13, or fig. 14, or fig. 15, or fig. 16 further comprises an infrared emitter 26, as shown in fig. 17.
And an infrared transmitter 26 for transmitting an infrared signal to the intelligent cleaning device service apparatus 1.
In a specific embodiment, when the automatic water adding device 22, the automatic sewage draining device 23, or the automatic charging device 24 of the intelligent cleaning device 2 detects that the intelligent cleaning device 2 needs to add water, drain sewage, or charge, the intelligent cleaning device 2 is automatically located to the nearest intelligent cleaning device service device 1 and automatically cruises to the specified position of the intelligent cleaning device service device 1, the scanning device 25 scans the hollow two-dimensional code, the reflective plate, or the planar two-dimensional code of the feature identification structure 15 of the intelligent cleaning device service device 1 to obtain positioning auxiliary information, the positioning auxiliary information includes three-dimensional position information and orientation information, and the second control module 21 of the intelligent cleaning device 2 adjusts the current pose of the intelligent cleaning device 2 according to the three-dimensional position information and the orientation information. In the embodiment of the present invention, the infrared emitter 26 of the intelligent cleaning device 2 emits an infrared signal, and the infrared receiver 16 of the intelligent cleaning device service apparatus 1 can receive the infrared signal only when the following conditions are satisfied: condition 1, the water inlet 221 of the automatic water adding device 22 is aligned with the first pair of interfaces 121 of the water adding device 12; condition 2, the drain 234 of the automatic drain 23 is aligned with the second pair of interfaces 131 of the drain 12; condition 3, the charging terminal 242 of the automatic charging device 24 is aligned with the charging contact terminal 142 of the charging device 14. Of course, if the intelligent cleaning device service apparatus 1 does not include the charging apparatus 14, but only includes the water adding apparatus 12 and the sewage draining apparatus 13, the foregoing conditions may be satisfied only by the conditions 1 and 2. If the intelligent cleaning device service device 1 only has the charging device 14 and does not have the water adding device 12 and the sewage draining device 13, the above condition can be satisfied only by the condition 3.
EXAMPLE III
Fig. 18 is a first schematic view of an intelligent cleaning device service apparatus according to a third embodiment of the present invention, and as shown in fig. 18, the intelligent cleaning device service apparatus 1 includes a first control module 11, a charging device 14, and an infrared receiver 16;
the first control module 11 is used for controlling the charging device 14 to charge the intelligent cleaning equipment 2 when receiving a charging indication signal sent by the intelligent cleaning equipment 2;
the infrared receiver 16 is used for sending an infrared signal to the first control module 11 when receiving the infrared signal sent by the intelligent cleaning device 2;
first control module 11, upon receiving the infrared signal transmitted by infrared receiver 16, determines that automatic charging device 24 of intelligent cleaning apparatus 2 is aligned with charging device 14 of intelligent cleaning apparatus service set 1.
In an alternative embodiment, the surface of the housing of the intelligent cleaning device service apparatus 1 of fig. 18 is provided with a feature recognition structure 15 for the intelligent cleaning device 2 to scan to obtain the parking assistance information. As shown in fig. 19.
In the third embodiment, the structures of the charging device 14, the feature recognition structure 15, and the infrared receiver 16, and the association relationship between the charging device and the corresponding automatic charging device 24, the scanning device 25, and the infrared emitter 26 on the intelligent cleaning device are referred to in the description of the first embodiment and the second embodiment, and are not repeated herein.
Example four
Fig. 20 is a first schematic view of an intelligent cleaning device according to a fourth embodiment of the present invention. As shown in fig. 20, the intelligent cleaning device 2 includes a second control module 21, an automatic charging device 24, and an infrared transmitter 26;
the second control module 21 is used for sending a charging indication signal to the intelligent cleaning equipment service device 1 when the automatic charging device 24 is determined to need to be charged, so that the intelligent cleaning equipment service device 1 can charge the automatic charging device 24;
and an infrared transmitter 26 for transmitting an infrared signal to the intelligent cleaning device service apparatus 1.
In an alternative embodiment, the intelligent cleaning device 2 shown in fig. 20 further comprises a scanning device 25, as shown in fig. 21.
And the scanning device 25 is used for scanning the characteristic identification structure 15 of the intelligent cleaning device service device 1 so as to scan auxiliary information for assisting the intelligent cleaning device 2 in parking and positioning.
Therefore, the intelligent cleaning equipment can realize aligned charging with the intelligent cleaning equipment service device.
In the fourth embodiment, the structures of the automatic charging device 24, the scanning device 25, and the infrared emitter 26, and the association relationship between the respective structures and the charging device 14, the feature recognition structure 15, and the infrared receiver 16 corresponding to the intelligent cleaning device service device are referred to in the description of the first embodiment and the second embodiment, and are not repeated herein.
EXAMPLE five
Fig. 22 is a first schematic view of an intelligent cleaning device service apparatus according to a fifth embodiment of the present invention;
fig. 23 is a second schematic view of an intelligent cleaning device service apparatus according to a fifth embodiment of the present invention; as shown in fig. 22 and 23, the positional relationship among the water adding device 12, the sewage discharging device 13, and the feature recognition structure 15 may be set according to actual needs, but the present application is not limited thereto.
Fig. 24 is a schematic view of an intelligent cleaning device service apparatus and an intelligent cleaning device in use according to a fifth embodiment of the present invention.
By applying the intelligent cleaning equipment service device and the intelligent cleaning equipment provided by the utility model, after the intelligent cleaning equipment automatically navigates to a specific position of the intelligent cleaning equipment service device, the scanning device of the intelligent cleaning equipment scans the characteristic identification structure of the intelligent cleaning equipment service device for accurate positioning, and after alignment is carried out through an infrared signal, the intelligent cleaning equipment service device can carry out one or more operations of water supplement, pollution discharge and charging on the intelligent cleaning equipment according to whether the intelligent cleaning equipment sends one or more of a water adding indication signal, a pollution discharge indication signal and a charging indication signal.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (22)
1. An intelligent cleaning equipment service device, characterized in that, intelligent cleaning equipment service device includes first control module, adds water installation and waste fitting discharging, wherein:
the first control module is used for controlling the water adding device to add water to the intelligent cleaning equipment when receiving a water adding indication signal sent by the intelligent cleaning equipment; when a pollution discharge indicating signal sent by the intelligent cleaning equipment is received, controlling the pollution discharge device to discharge pollution to the intelligent cleaning equipment;
the sewage draining device comprises a second pair of connectors, a sewage buffer zone, a water pump and a sewage draining port which are connected in sequence; the second pair of interfaces is used for being butted with a sewage outlet of an automatic sewage draining device of the intelligent cleaning equipment;
when receiving a pollution discharge indication signal sent by intelligent cleaning equipment, the first control module controls the water pump to start, and discharges sewage of the intelligent cleaning equipment through a sewage discharge port after the sewage is buffered by a sewage buffer zone; and when receiving a pollution discharge finishing indication signal sent by the intelligent cleaning equipment, controlling the water pump to stop working.
2. The intelligent cleaning device service unit of claim 1, wherein the water adding device comprises a first pair of interfaces, a water tank, and a first water valve; the first pair of interfaces is used for being in butt joint with a water inlet of an automatic water adding device of the intelligent cleaning equipment; the water tank is used for storing water and providing a water injection source for the intelligent cleaning equipment;
the first control module controls the first water valve to be opened when receiving the water adding indication signal; and when receiving a water adding stopping indication signal sent by the intelligent cleaning equipment, controlling the first water valve to be closed.
3. The intelligent cleaning device service unit of claim 2, wherein the water adding device further comprises a first water level monitoring module and a second water valve;
the first water level monitoring module is used for detecting the water level of the water tank and sending the detected water level information to the first control module;
the first control module is used for generating a water valve opening control signal when water supplement is determined to be needed according to the water level information so as to control the second water valve to be opened to fill water into the water tank; and generating a water valve closing control signal when water supplement is determined not to be needed according to the water level information so as to control the second water valve to be closed to stop water injection.
4. The intelligent cleaning device service apparatus according to claim 1, further comprising a charging device;
the first control module is used for controlling the charging device to charge the intelligent cleaning equipment when receiving a charging indication signal sent by the intelligent cleaning equipment.
5. The intelligent cleaning device service unit of claim 4, wherein the charging unit comprises a charging module and charging contact terminals; one end of the charging module is connected with the mains supply circuit, and the other end of the charging module is connected with the charging contact terminal; the charging contact terminal is in contact with a charging terminal of a battery of the intelligent cleaning device in the charging process;
when receiving the charging indication signal, the first control module controls the charging module to output electric energy and charge the battery; and when receiving a charging end indication signal sent by the intelligent cleaning equipment, the first control module controls the charging module not to output electric energy.
6. The intelligent cleaning device service apparatus according to claim 1, wherein a surface of a housing of the intelligent cleaning device service apparatus is provided with a feature recognition structure for scanning by an intelligent cleaning device to obtain the parking assistance positioning information.
7. The intelligent cleaning device service apparatus of claim 6, wherein the feature identification structure comprises a hollowed-out two-dimensional code, a planar two-dimensional code, or a reflector.
8. The intelligent cleaning device service apparatus of claim 5, further comprising an infrared receiver;
the infrared receiver is used for sending an infrared signal to the first control module when receiving the infrared signal sent by the intelligent cleaning equipment;
when the first control module receives an infrared signal sent by the infrared receiver, the automatic water adding device, the automatic sewage discharging device and the automatic charging device of the intelligent cleaning equipment are determined to be respectively aligned with the water adding device, the sewage discharging device and the charging device of the intelligent cleaning equipment service device.
9. The intelligent cleaning equipment is characterized by comprising a second control module, an automatic water adding device and an automatic sewage draining device;
the second control module sends a water adding indication signal to the intelligent cleaning equipment service device when determining that water needs to be added to the automatic water adding device, so that the intelligent cleaning equipment service device can conveniently fill water into a clear water tank of the automatic water adding device; and when determining that sewage needs to be drained from the sewage tank of the automatic sewage draining device, sending a sewage draining indication signal to the intelligent cleaning equipment so that the intelligent cleaning equipment service device can drain the sewage in the sewage tank of the automatic sewage draining device.
10. The intelligent cleaning equipment according to claim 9, wherein the automatic water adding device comprises a water inlet, a water inlet pipe and a clean water tank which are connected in sequence; the water inlet is used for being in butt joint with a first pair of interfaces of the intelligent cleaning equipment service device; the clear water tank is used for storing water.
11. The intelligent cleaning apparatus according to claim 10, wherein the automatic water adding device further comprises a second water level monitoring module;
the second water level monitoring module is used for monitoring the water level of the clean water tank and sending the monitored water level information of the clean water tank to the second control module;
and the second control module is used for sending a water adding indicating signal to the intelligent cleaning equipment service device when determining that water needs to be added according to the water level information of the clear water tank, and sending a water adding stopping indicating signal to the intelligent cleaning equipment service device when determining that water adding is stopped according to the water level information of the clear water tank.
12. The intelligent cleaning apparatus according to claim 9, wherein the automatic waste fitting comprises a waste tank, a third water valve, a water valve control circuit, and a waste drain; the sewage draining outlet is used for being in butt joint with a second pair of interfaces of the intelligent cleaning equipment service device;
the second control module sends a valve opening signal to the water valve control circuit when determining that sewage needs to be discharged to a sewage tank of the automatic sewage discharging device; when the end of pollution discharge is determined, a valve closing signal is sent to the water valve control circuit;
the water valve control circuit opens the third water valve when receiving the valve opening signal; and closing the third water valve upon receiving the valve closing signal.
13. The intelligent cleaning apparatus according to claim 12, wherein the automatic waste fitting further comprises a third water level monitoring module;
the third water level monitoring module is used for monitoring the water level of the sewage tank and sending the monitored water level information of the sewage tank to the second control module;
the second control module is used for controlling, when determining that sewage needs to be discharged to the sewage tank of the automatic sewage discharge device according to the water level information of the sewage tank, sending a sewage discharge indication signal to the intelligent cleaning equipment service device and sending a valve opening signal to the water valve control circuit; and when the sewage discharge is determined to be finished according to the sewage tank water level information, sending a sewage discharge finishing indication signal to an intelligent cleaning service device, and sending a valve closing signal to the water valve control circuit.
14. The intelligent cleaning apparatus according to claim 9, further comprising an automatic charging device;
and the second control module sends a charging indication signal to the intelligent cleaning equipment service device when determining that the automatic charging device needs to be charged, so that the intelligent cleaning equipment service device can charge the automatic charging device.
15. The intelligent cleaning apparatus according to claim 14, wherein the automatic charging device comprises a battery and a charging terminal, one end of the charging terminal is connected with the battery, and the other end is used for contacting with a charging contact terminal of the intelligent cleaning apparatus service device.
16. The intelligent cleaning device according to claim 9, further comprising a scanning device, wherein the scanning device is configured to scan the feature recognition structure of the intelligent cleaning device service device to obtain auxiliary information for assisting the intelligent cleaning device in parking positioning.
17. The intelligent cleaning apparatus according to claim 16, wherein the scanning device is a lidar or a camera.
18. The intelligent cleaning apparatus according to claim 9, further comprising an infrared emitter, wherein:
and the infrared transmitter sends an infrared signal to the intelligent cleaning equipment service device.
19. The intelligent cleaning equipment service device is characterized by comprising a first control module, a charging device and an infrared receiver;
the first control module is used for controlling the charging device to charge the intelligent cleaning equipment when receiving a charging indication signal sent by the intelligent cleaning equipment;
the infrared receiver is used for sending an infrared signal to the first control module when receiving the infrared signal sent by the intelligent cleaning equipment;
the first control module determines that an automatic charging device of the intelligent cleaning equipment is aligned with a charging device of the intelligent cleaning equipment service device when receiving an infrared signal sent by the infrared receiver.
20. The intelligent cleaning device service apparatus of claim 19, wherein a surface of a housing of the intelligent cleaning device service apparatus is provided with a feature recognition structure for scanning by an intelligent cleaning device to obtain the parking assistance positioning information.
21. The intelligent cleaning equipment is characterized by comprising a second control module, an automatic charging device and an infrared transmitter;
the second control module sends a charging indication signal to the intelligent cleaning equipment service device when the automatic charging device is determined to need to be charged, so that the intelligent cleaning equipment service device can charge the automatic charging device;
and the infrared transmitter sends an infrared signal to the intelligent cleaning equipment service device.
22. The intelligent cleaning device according to claim 21, further comprising a scanning device, wherein the scanning device is configured to scan the feature recognition structure of the intelligent cleaning device service device to obtain auxiliary information for assisting the intelligent cleaning device in parking positioning.
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| CN113373848A (en) * | 2021-07-09 | 2021-09-10 | 北京智行者科技有限公司 | Intelligent cleaning equipment service device and intelligent cleaning equipment |
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| CN113373848A (en) * | 2021-07-09 | 2021-09-10 | 北京智行者科技有限公司 | Intelligent cleaning equipment service device and intelligent cleaning equipment |
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