TW202010467A - Cleaning method and device, and cleaning system capable of shortening the halt time of cleaning operation - Google Patents

Abstract

The invention provides a self-propelled cleaning device, and a cleaning method and a cleaning system using the self-propelled cleaning device. The self-propelled cleaning device comprises: a first machine body that is provided with a moving unit and a cleaning unit, wherein the moving unit is operable to drive the first machine body to move on a to-be-cleaned surface, and the cleaning unit is operable to clean the to-be-cleaned surface; and a second machine body that is detachably coupled to the first machine body, and provided with a water tank unit and a power unit, wherein the water tank unit is operable to supply liquid to the cleaning unit, and the power unit is operable to supply electrical power to each unit of the first machine body and the second machine body.

Description

Self-propelled cleaning device, cleaning method and cleaning system using the self-propelled cleaning device

The invention relates to a self-propelled cleaning device, a cleaning method and a cleaning system using the self-propelled cleaning device, in particular to a self-propelled cleaning device that can be separated from a switch body and cleaning using the self-propelled cleaning device Method and cleaning system.

In order to increase the cleaning efficiency of the cleaning staff, in order to increase the cleaning efficiency of the cleaning staff, there are generally large cleaning devices that need to be driven or driven by the cleaning staff for use by the cleaning staff, so that the cleaning staff can control and drive the cleaning The device moves on the surface to be cleaned for cleaning operations; however, this type of cleaning device requires the control of the cleaning personnel to perform the cleaning operation, so there are self-propelled cleaning devices on the market that can move on the surface to be cleaned autonomously to perform cleaning operations. Such a self-propelled cleaning device can be disclosed as the “cleaning device” of Patent No. M560281. The cleaning device includes: a body provided with a first accommodating area, a second accommodating area and a third The accommodating area, the first accommodating area is located on the front side of the movement direction of the body, the second accommodating area is located on the upper side of the back side of the movement direction of the body, and the third accommodating area is located on the back side of the body movement direction and below A drive unit, located at the bottom of the body, to drive the body to move on a surface to be cleaned; a cleaning unit, located at the bottom of the body, to clean the surface to be cleaned; a control unit, located at The first accommodating area is used to perform various data calculations or judgments to control various functions on the body; a water tank is provided in the second accommodating area to provide liquid to the cleaning unit or collect The liquid collected by the cleaning unit; a power unit, which is provided in the third accommodating area and used to provide power for each unit on the machine body.

The conventional self-propelled cleaning device has to face two situations after performing a cleaning operation for a period of time. One is that the liquid in the water tank needs to be replenished and replaced, and the other is that the power unit needs to be recharged. At this time, the self-propelled cleaning device will First move to a workstation to stop for charging, and in the process of waiting for the power to be fully charged, manually remove the dirty liquid in the water tank and replenish the clean liquid; so the cleaning operation of the self-propelled cleaning device must be interrupted for a period of time, waiting for power You can continue to work after you are full.

It is the object of the present invention to provide a self-propelled cleaning device that can shorten the interruption time of cleaning operations.

Another object of the present invention is to provide a cleaning method which can shorten the interruption time of the cleaning operation of the self-propelled cleaning device.

Another object of the present invention is to provide a cleaning system that can shorten the interruption time of the cleaning operation of the self-propelled cleaning device.

The self-propelled cleaning device according to the purpose of the present invention includes: a first body provided with a walking unit and a cleaning unit; the walking unit is used to drive the first body to move on a surface to be cleaned; the cleaning unit is used to Clean the surface to be cleaned; a second body is detachably connected to the first body; the second body is provided with a water tank unit and a power unit; the water tank unit is used to supply liquid to the cleaning unit; the power unit can Provide power for each unit on the first body and the second body.

A cleaning method according to another object of the present invention uses the self-propelled cleaning device as described above, including: after the first body is linked to the second body to a workstation, the connection between the first body and the second body is released The relationship separates the two, and after the first body is connected to a third body with the same structure as the second body, the first body is linked to the third body away from the workstation.

A cleaning system according to another object of the present invention uses the self-propelled cleaning device as described above, including: a plurality of workstations, which are respectively disposed in a plurality of areas to be cleaned, and each workstation is provided with a third body; the third The structure of the body is the same as that of the second body.

The self-propelled cleaning device and the cleaning method and cleaning system using the self-propelled cleaning device in the embodiments of the present invention, since the second body and the third body can be separated and connected with the first body, the self-propelled type The cleaning device can be unloaded to the workstation to remove the second body that needs to be replenished with liquid and power, and a third body with clean liquid and full power is connected to shorten the interruption time of the cleaning operation; in addition, the self-propelled cleaning device can be The path is set to a plurality of areas to be cleaned in sequence to clean, and the second body is unloaded to the workstations in each area to be cleaned, which is also convenient for the cleaning staff to clean the second body at a time in a concentrated time, so that the cleaning staff Time is more flexible.

Referring to FIG. 1, the self-propelled cleaning device A according to the embodiment of the present invention mainly includes: a first body A1 provided with a bearing portion A11 on the opposite rear side of the movement direction of the first body A1; the first body The bottom of A1 is provided with a walking unit A12 and a cleaning unit A13; the walking unit A12 is used to drive the first body A1 to move on a surface F to be cleaned; the cleaning unit A13 is used to clean the surface F to be cleaned, the cleaning The unit A13 is provided with a scrubbing mechanism A131 and a liquid suction mechanism A132, the scrubbing mechanism A131 is disposed on the opposite front side of the movement direction of the first body A1, and the liquid suction mechanism A132 is disposed on the opposite rear side of the movement direction of the first body A1; A detection unit A14 is provided on the front side of the first body A1 for detecting obstacles, level differences encountered in the moving direction of the first body A1 or having a function of establishing a space map. The detection unit A14 is provided with a A visual sensor A141 for establishing maps and judgment obstacles and a laser sensor A142 for establishing maps and judgment obstacles; the first body A1 is provided with a control unit A15 for performing various data operations or judgments for various purposes Function control; a second body A2, carried by the bearing portion A11 of the first body A1, and detachably connected to the first body A1; the second body A2 is provided with a water tank unit A21, which is provided with a clear water tank A211 And a sewage tank A212; the clean water tank A211 is used to supply clean liquid to the scrubbing mechanism A131 of the first body A1, so that the scrubbing mechanism A131 can scrub the surface F to be cleaned; the sewage tank A212 is used to collect The cleaned dirty liquid sucked by the liquid suction mechanism A132 of the body A1; the second body A2 is provided with a power unit A22 below the water tank unit A21, the power unit A22 can provide the first body A1 and the second body A2 The power of the above units.

Please refer to FIGS. 1 and 2. The self-propelled cleaning device A of the embodiment of the present invention is used with a work station B. The self-propelled cleaning device A can refer to the built-in map and move to the work station B under a preset situation to To facilitate the subsequent separation of the first body A1 and the second body A2; wherein, the workstation B is provided with: a third body B1, which has the same structure as the second body A2, and is provided with a water tank unit B11 and a power unit B12; a base B2, which is provided with a charging unit B21, which can supplement the power of the power unit A22 of the second body A2 or the power unit B12 of the third body B1; when supplementing power, the The second body A2 or the third body B1 is not in contact with the surface F to be cleaned.

Please refer to FIGS. 2, 3 and 4. When the cleaning method of the embodiment of the present invention is implemented, for example, when the self-propelled cleaning device A cleans for a predetermined time, the power of the power unit A22 of the self-propelled cleaning device A is lower than Under the preset conditions, the clear water tank A211 of the self-propelled cleaning device A is emptied, the sewage tank A212 of the self-propelled cleaning device A is full, etc. Under the preset circumstances, the first body A1 is linked to the second body A2 to After the workstation B, the connection relationship between the first body A1 and the second body A2 is released to separate the two, and the first body A1 is connected to the third body B1 having the same structure as the second body A2, so that The first body A1 links the third body B1 with clean liquid and full power away from the workstation B, and causes the unloaded second body A2 to temporarily stay at the workstation B for supplementing the power of the power unit A22, Removal of dirty liquid in the sump tank A212, replenishment of clean liquid in the clean water tank A211, etc.; where the separation and connection of the self-propelled cleaning device A can be performed by human or automated machinery; the removal and replenishment of the liquid can also be performed by human Or automated machinery; and because the power unit A22 is provided in the second body A2, so when the first body A1 and the second body A2 are connected, the power unit A22 can provide the first body A1 Unit power.

Referring to FIG. 5, the self-propelled cleaning device A according to an embodiment of the present invention can be used in a cleaning system. The cleaning system includes: a plurality of workstations B, which are respectively set in a plurality of areas to be cleaned C, and each workstation B has A third body B1 is provided.

Please refer to FIGS. 1 and 5. In the implementation of the cleaning system of the embodiment of the present invention, for example, when the self-propelled cleaning device A cleans for a predetermined time, the power of the power unit A22 of the self-propelled cleaning device A is lower than the preset value 1. The clear water tank A211 of the self-propelled cleaning device A is emptied, the sewage tank A212 of the self-propelled cleaning device A is full, etc. Under preset circumstances, the first body A1 links the second body A2 to the plurality of waiting After one of the workstations B in the area C to be cleaned of the cleaning area C, the connection between the first body A1 and the second body A2 is released to separate the two, and the first body A1 is connected to the clean liquid and full After the third body B1 of power, the first body A1 is connected to the third body B1 to leave the workstation B to continue cleaning of a preset path R, and to the workstation of another area C to be cleaned when the next preset situation occurs B, repeat the above separation → connection → leave operation.

The self-propelled cleaning device and the cleaning method and cleaning system using the self-propelled cleaning device of the embodiments of the present invention, because the second body A2 and the third body B1 can be separated and connected with the first body A1, making the The self-propelled cleaning device A can remove the second body A2 that needs to be replenished with liquid and power to the workstation B, and connect a third body B1 with clean liquid and full power to shorten the interruption time of the cleaning operation; The walking-type cleaning device A can sequentially perform cleaning operations to a plurality of areas to be cleaned C according to a preset path R, and unload the second body A2 to the workstation B in each area to be cleaned C, which is also convenient for cleaning personnel to concentrate The second machine body A2 is cleaned at a time, which makes the cleaning staff more flexible in time.

6, a self-propelled cleaning device A'according to another embodiment of the present invention is mainly provided with a driven unit A21' and a cleaning unit A22' at the bottom of the second body A2'; the cleaning unit A22' is provided with a suction unit Liquid mechanism A221'; when the first body A1' and the second body A2' are connected by a connecting mechanism (not shown), the first body A1' can drag the second body A2' to make the second body A2' The two bodies A2' follow the first body A1' and move on the surface F to be cleaned. At this time, the driven unit A21' is in rolling contact with the surface F to be cleaned; when the workstation B'supplements power, the first The driven units A21', B11' of the second body A2' or the third body B1' are in contact with the surface F to be cleaned.

However, the above are only the preferred embodiments of the present invention, which should not be used to limit the scope of the implementation of the present invention, that is, simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the description of the invention, All of them are still covered by the patent of the present invention.

A: Self-propelled cleaning device A1: First body A11: Carrying part A12: Walking unit A13: Cleaning unit A131: Scrubbing mechanism A132: Liquid suction mechanism A14: Detection unit A141: Vision sensor A142: Laser sensor A15: Control Unit A2: Second body A21: Water tank unit A211: Clean water tank A212: Waste water tank A22: Power unit B: Workstation B1: Third body B11: Water tank unit B12: Power unit B2: Base B21: Charging unit C: To be cleaned Area A': Self-propelled cleaning device A1': First body A2': Second body A21': Slave unit A22': Cleaning unit A221': Liquid suction mechanism B': Workstation B1': Third body B11' : Follower unit F: surface to be cleaned

FIG. 1 is a schematic diagram of the mechanism arrangement of a self-propelled cleaning device in an embodiment of the present invention. 2 is a schematic diagram of a self-propelled cleaning device docked to a workstation in an embodiment of the present invention. FIG. 3 is a schematic diagram of the exchange between the second body and the third body in the embodiment of the present invention. FIG. 4 is a schematic diagram of the movement of the second body in conjunction with the movement of the first body in the embodiment of the present invention. 5 is a schematic diagram of a self-propelled cleaning device used in a cleaning system in an embodiment of the present invention. 6 is a schematic diagram of a self-propelled cleaning device and a workstation in another embodiment of the present invention.

A: Self-propelled cleaning device

A1: the first body

A11: Carrying Department

A12: Drive unit

A13: Cleaning unit

A131: Scrubbing mechanism

A132: Liquid suction mechanism

A14: Detection unit

A141: Vision sensor

A142: Laser sensor

A15: Control unit

A2: Second body

A21: Water tank unit

A211: Clear water tank

A212: Sewage tank

A22: Power unit

F: surface to be cleaned

Claims (12)

A self-propelled cleaning device includes: a first body provided with a walking unit and a cleaning unit; the walking unit is used to drive the first body to move on a surface to be cleaned; the cleaning unit is used to clean the to-be-cleaned A second body, which is detachably connected to the first body; the second body is provided with a water tank unit and a power unit; the water tank unit is used to supply liquid to the cleaning unit; the power unit can provide the first The power of each unit on the body and the second body. The self-propelled cleaning device as described in item 1 of the scope of the patent application, wherein the power unit provides power to the units on the first body when the first body is connected to the second body. The self-propelled cleaning device as described in item 1 of the patent application scope, wherein the first body is provided with a control unit for performing various data operations or judgments when the first body is connected to the second body Various functions control. The self-propelled cleaning device as described in item 1 of the scope of the patent application, wherein the first body is provided with a bearing part behind the moving direction, which can carry the second body. The self-propelled cleaning device as described in item 1 of the patent application scope, wherein a driven unit is provided at the bottom of the second body, and when the first body is connected to the second body, the first body can drag the second The body moves on the surface to be cleaned. The self-propelled cleaning device as described in item 1 of the patent application, wherein the cleaning unit is provided with a scrubbing mechanism, and the liquid in the water tank unit can be supplied to the scrubbing mechanism when the first body and the second body are connected . The self-propelled cleaning device as described in item 1 of the scope of the patent application, wherein the cleaning unit is provided with a liquid suction mechanism, which can absorb the cleaned liquid to when the first body is connected to the second body The water tank unit. A cleaning method using a self-propelled cleaning device as described in any one of patent application items 1 to 7 includes: after the first body is linked to the second body to a workstation, the first body and the The connection relationship of the second body separates the two, and after the first body is connected to a third body with the same structure as the second body, the first body is linked to the third body away from the workstation. The cleaning method as described in item 8 of the patent application scope, wherein the second body temporarily stays in the workstation for charging. A cleaning system using a self-propelled cleaning device as described in any one of patent application items 1 to 7 includes: a plurality of workstations, each located in a plurality of areas to be cleaned, each workstation is provided with a third Body; the structure of the third body is the same as that of the second body. The cleaning system as described in item 10 of the patent application scope, wherein after the first body links the second body to a workstation in one of the plurality of areas to be cleaned, the first body and the second body are released The connection relationship between the bodies separates the two, and after the first body is connected to the third body, the first body is linked to the third body away from the workstation. The cleaning system as described in item 11 of the patent application scope, wherein after the first machine body links the third machine body away from the workstation, after a predetermined path of cleaning, it goes to another workstation in the area to be cleaned.

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