WO2022174558A1 - Station de base pour appareil de nettoyage, système de nettoyage, procédé de commande, appareil informatique et support de stockage lisible par ordinateur - Google Patents

Station de base pour appareil de nettoyage, système de nettoyage, procédé de commande, appareil informatique et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2022174558A1
WO2022174558A1 PCT/CN2021/109652 CN2021109652W WO2022174558A1 WO 2022174558 A1 WO2022174558 A1 WO 2022174558A1 CN 2021109652 W CN2021109652 W CN 2021109652W WO 2022174558 A1 WO2022174558 A1 WO 2022174558A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
water
base station
water tank
mopping
Prior art date
Application number
PCT/CN2021/109652
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English (en)
Chinese (zh)
Inventor
何博
陈远
张金龙
Original Assignee
美智纵横科技有限责任公司
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Publication of WO2022174558A1 publication Critical patent/WO2022174558A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A47L11/305—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • 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
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the application number is 202110187492.X, and the application date is February 18, 2021;
  • the invention relates to the field of cleaning electrical appliances, and specifically discloses a base station for cleaning equipment, a cleaning system, a control method, computer equipment and a computer-readable storage medium.
  • the existing cleaning equipment with heating function can be divided into two types. One is to heat the water in the entire water tank of the cleaning equipment. The other is to heat the water in the entire water tank on the base station.
  • the former has a complex structure, and heating will consume a lot of electric energy of the machine itself, resulting in a greatly shortened battery life. It will be used up at one time, heating the entire water tank, resulting in a waste of resources, and there is no good control plan at present, and there is a great potential safety hazard.
  • the present invention aims to solve the above-mentioned technical problems in the related art at least to a certain extent.
  • the present invention provides a base station for cleaning equipment, a cleaning system, a control method, a computer device, and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.
  • a base station for cleaning equipment including:
  • a base station body having a platform for docking the cleaning equipment
  • a mopping part cleaning part arranged on the base station body
  • a clean water tank arranged above the cleaning part of the mopping element, and a water outlet pipe is installed in the clean water tank;
  • a heating device which is arranged on the base station body and on the pipeline of the water outlet pipe;
  • a water delivery pipeline which communicates with the water outlet pipe and is located downstream of the heating device, the water delivery pipeline communicates with the cleaning part of the mopping element, and has an interface for supplying water to the water tank of the cleaning equipment;
  • a control system which is arranged on the base station body, controls at least the heating device.
  • a second aspect of the present invention provides a control method for a cleaning system, determining that the cleaning device is parked in a preset area of the platform;
  • the mopping member of the cleaning device is cleaned by the mopping member cleaning part.
  • a third aspect of the present invention provides a cleaning system, including a cleaning device and a base station, the cleaning device is provided with a mopping member, the base station is provided with a mopping member cleaning part and a control system, wherein,
  • the mopping member is used for mopping the ground
  • the mopping member cleaning part is used for cleaning the mopping member
  • the control system is used to determine that the cleaning equipment is parked in the preset area of the platform, determine that the clean water tank on the base station meets the water outlet conditions, control the water outlet of the clean water tank and the heating device on the base station to turn on, and control the water delivery pipe on the base station.
  • the road transports hot water to the mop cleaning part and/or the water tank of the cleaning device on the base station, and controls the mop cleaning part to clean the mop.
  • a fourth aspect of the present invention provides a computer device, comprising a memory, a controller, and a computer program stored on the memory and capable of running on the controller, the controller implements the above when executing the computer program the described control method.
  • a fifth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a controller, implements the above-mentioned control method.
  • the above-mentioned base station for cleaning equipment may also have the following additional technical features:
  • the heating device is arranged in the water outlet pipe or on the outer surface of the water outlet pipe.
  • the heating device is a resistance wire or a positive temperature coefficient heating device disposed on the outer surface of the water outlet pipe.
  • the present invention further includes a temperature detector and an overload protector connected to the control system, wherein the temperature detector is arranged in the water outlet pipe; the control system is used to control the water outlet pipe The temperature of the water is kept constant; the overload protector is connected with the heating device to implement overload protection for the heating device.
  • it further comprises a first water volume sensor and a second water volume sensor respectively connected to the control system, wherein,
  • the first water volume sensor is arranged in the clean water tank
  • the second water volume sensor is arranged in the cleaning equipment water tank.
  • a sewage tank is further included, the mopping element cleaning part includes a suction device, a cleaning detector and a drying device, wherein the cleaning detector is provided on the mopping element cleaning part is used to detect whether the cleaning part of the mopping part has completed the cleaning of the cleaning equipment, and the suction device is used to suck the sewage from the cleaning part of the mopping part to the sewage tank.
  • it further comprises a cleaning equipment charging system and an in-position detector respectively connected to the control system, wherein the in-position detector is arranged at a position corresponding to the base station body and the platform, and uses for detecting whether the cleaning device is parked in a preset area of the platform.
  • the determining that the clean water tank meets the water outlet conditions, and controlling the water discharge of the clean water tank and the opening of the heating device includes: determining that the water volume in the clean water tank is greater than a preset value of a first water volume, and controlling The water outlet of the clean water tank and the opening of the heating device.
  • the method before determining that the clean water tank meets the water outlet condition, the method further includes: determining that the cleaning device is parked in a preset area of the platform. Before controlling the water delivery pipeline to deliver hot water to the water tank of the cleaning device, the method further includes: determining that the water tank of the cleaning device satisfies the water replenishment condition.
  • the determining that the water tank of the cleaning device satisfies the water replenishment condition, and controlling the water delivery pipeline to deliver hot water to the water tank of the cleaning device includes: determining that the water volume of the water tank in the cleaning device is less than the first The second preset value of the water volume controls the opening of the water outlet of the water delivery pipeline to deliver hot water to the water tank of the cleaning device.
  • it further includes the following steps: determining that the temperature value and/or current value of the heating device satisfies a preset condition for continuing to turn on the heating device, and controlling the heating device to continue to turn on; determining the wiping member The cleaning part completes the cleaning of the cleaning equipment, and controls the closing of the heating device.
  • the following steps are further included: according to the temperature of the hot water, controlling the flow rate of the water outlet from the clean water tank and/or the heating power of the heating device to maintain a constant temperature of the hot water.
  • the following steps are further included: determining that the mop cleaning part has completed the cleaning of the cleaning device, controlling the mop cleaning part to be closed and the suction device to be turned on; determining the cleaning When the power of the device is lower than the preset power value, the charging device is controlled to be turned on; it is determined that the base station has completed charging the cleaning device, and the charging device is controlled to be turned off and the drying device is turned on.
  • the present invention has the following beneficial effects:
  • the clean water flowing out of the clean water tank is heated in real time by the heating device, and then transported by the water pipeline to the cleaning part of the mopping part and/or the water tank of the cleaning equipment, so that the base station can effectively control the mopping.
  • the component cleaning unit and/or the cleaning equipment water tank can input hot water in real time. On the one hand, it ensures the battery life of the cleaning equipment, and the hot water mopping makes the cleaning effect of the cleaning equipment better. Cleaning effect of cleaning equipment.
  • FIG. 1 is a schematic structural diagram of a cleaning device in an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram 1 of a base station in an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram 2 of a base station in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of some modules in a base station in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a water delivery pipeline in a base station according to an embodiment of the present invention.
  • Fig. 6 is the control flow chart of the cleaning system in the embodiment of the present invention.
  • Fig. 7 is the partial control flow chart of the cleaning system in the embodiment of the present invention.
  • FIG. 8 is a flow chart of the constant temperature control of the cleaning system in the embodiment of the present invention.
  • Cleaning equipment 100 body 10, water spray module 11, side brush module 12, roller brush module 13, fan 14, mopping disc 15, dust collecting module 16, water tank 17, base station 200, mopping part cleaning part 21, clean water tank 22, sewage tank 23, heating device 24, first water volume sensor 25, second water volume sensor 26, overload protector 27, presence detector 28, air drying motor 29, air pump 290, water outlet pipe 30, first outlet The water pipe 31 , the second water delivery pipe 32 , the third solenoid valve 33 , and the second water pump 34 .
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a Directly connected or indirectly connected through an intermediary.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a Directly connected or indirectly connected through an intermediary.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features.
  • a feature defined as “first”, “second”, may expressly or implicitly include one or more of that feature.
  • “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.
  • spatially relative terms such as “bottom”, “front”, “top” may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures. “, “Tilt”, “Down”, “Top”, “Inside”, “Horizontal”, “Outside”, etc.
  • This spatially relative term is intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figures. For example, if the mechanism in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “above the other elements or features" above features". Thus, the example term “below” can encompass both an orientation of above and below.
  • an embodiment of the present invention provides a cleaning system, which includes a cleaning device 100 and a base station 200 for cleaning devices that are provided independently of each other, wherein the cleaning device 100 is used for mopping the ground.
  • the base station 200 is used to clean the mopping member of the cleaning device 100, and/or add water to the water tank of the cleaning device 100, and/or charge the cleaning device 100, and when the cleaning device 100 is cleaned
  • the cleaning device 100 can automatically return to the base station 200 to perform cleaning, watering or charging at the base station 200 .
  • the base station 200 can clean, add water and charge the cleaning device 100, the electric energy of the base station 200 can be derived from commercial power, and the water in the base station 200 can be derived from an external water source.
  • the cleaning device 100 may be an autonomous mopping robot or an integrated sweeping and mopping robot.
  • the cleaning device 100 includes a charging and discharging system, an electric control system, a detection system, a walking system, a supporting system and a cleaning system, wherein the charging and discharging system includes an adapter module, a charging module and a battery pack assembly, and the electric control system includes an input module, display module and control and protection module, the detection system includes a collection sensor module for collecting internal and external environmental information, the walking system includes a drive wheel module and an auxiliary wheel module, and the support system includes a fuselage 10 and multiple A functional module support structure, the cleaning system includes a water spray module 11 , a side brush module 12 , a liftable roller brush module 13 , a fan 14 , a mopping plate 15 , a dust collecting module 16 and a water tank, which are arranged on the body 10 .
  • the side brush module 12 and the roller brush 13 are located at the front of the fuselage 10, and are used to clean the garbage on the ground.
  • the mopping disc 15 is detachably arranged at the rear of the fuselage 10, and a mopping cloth is installed on the mopping disc 15. (or rag) or sponge and other mopping elements that can mop the ground, the mopping element in this embodiment can be selected from mopping cloth, and the mopping element can be detachably connected to the mopping disc 15, for example, in this embodiment
  • the mopping member can be pasted on the lower end surface of the mopping plate 15 by using Velcro, so as to facilitate the removal and replacement of the mopping member.
  • the mopping disc 15 can drive the mopping member to rotate, and the mopping disc 15 can form a certain pressure with the ground, so that the mopping member can remove stubborn stains on the ground.
  • the fan 14 can form a negative pressure to suck the dust in the roller brush cavity into the dust collecting module 16 .
  • the water spraying module 11 is located in the middle of the fuselage 10, and is used to spray the water in the water tank 17 to the ground to dilute the stains or wet the mopping parts, and the rolling brush module 13 is used to realize sweeping, mopping the disc 15 Drive the mopping piece to mop the floor.
  • the cleaning device 100 can drive on the ground to be cleaned by means of the driving wheel module and the auxiliary wheel module.
  • the cleaning device 100 can have various working modes, such as a single sweep mode, a single mop mode or an integrated sweep and mop mode.
  • the working modes of the cleaning device 100 may include a single sweep mode and a single drag mode. For example, the cleaning device 100 executes the single sweep mode first, and then executes the single drag mode.
  • the cleaning device 100 executes the single sweep mode
  • the roller brush on the roller brush module 13 is close to the ground
  • the mopping disc 15 is not installed on the body 10 or the mopping disc 15 is controlled to be closed
  • the roller brush module 13 is lifted up, the mopping disc 15 is installed on the body 10 or the mopping disc 15 is controlled to start working.
  • the cleaning device 100 has been shown in the present invention, the present invention is not limited thereto.
  • the cleaning device 100 can also be a cleaning device 100 that is operated by a user in a hand-held manner, and the base station 200 is shown as stationary here.
  • the base station 200, the stationary base station 200 cannot move without the assistance of the user.
  • the base station 200 can also be designed as an autonomously traveling unit, which can autonomously change its position, eg as a tracking device for the cleaning device 100 .
  • the base station 200 includes: a base station body 20 and a mopping part cleaning part 21 , a clean water tank 22 , a sewage tank 23 , a heating device 24 , a water delivery pipeline, and a first water volume sensor set on the base station body 20 .
  • a second water sensor 26 a temperature detector, an overload protector 27, a presence detector 28, a cleaning equipment charging system, a disinfection device and a control system, wherein the control system is connected to the mop cleaning part 21, the heating device 24.
  • the water delivery pipeline, the first water volume sensor 25, the second water volume sensor 26, the temperature detector, the overload protector 27, the presence detector 28, the cleaning equipment charging system and the disinfection device are connected.
  • the platform of the cleaning device 100 is docked, the mopping part cleaning part 21 is used for cleaning the mopping parts of the cleaning device 100, and the clean water tank 22 is arranged above the mopping part cleaning part 21 for storing clean water, heating device 24 is used to heat the clean water flowing out of the clean water tank 22, and the water delivery pipeline is used to deliver the hot water heated by the heating device 24 to the water tank 17 of the mop cleaning part 21 and/or the cleaning device 100, and the control system can be used for Control the opening and closing of the heating device 24, the mop cleaning part 21 includes a suction device, a cleaning detector and a drying device.
  • a detector is arranged on the mop cleaning part 21 to detect whether the mopping part cleaning part completes the cleaning of the cleaning equipment, and the drying device is used for drying the cleaned mop. Drying device, the drying device may include an air-drying motor 29 and an air pump 290 connected to the air-drying motor, and the sterilizing device can sterilize the dried mopping member.
  • the first water volume sensor 25 and the second water volume sensor 26 may be flow meters arranged in the clean water tank 22 and the water tank 17 , and the first water volume sensor is used to detect the clean water tank 22 .
  • the second water volume sensor is used to detect the water volume of the water tank 17 in the cleaning device 100
  • the temperature detector is used to detect the temperature of the hot water
  • the overload protector 27 is connected to the heating device 24 for detecting the temperature value and/or current value of the heating device 24 to implement overload protection for the heating device 24, wherein the control system can control the water delivery pipeline according to the water temperature fed back by the temperature detector The water temperature inside remains constant.
  • the base station 200 further includes a water outlet pipe 30 arranged at the bottom of the clean water tank 22 and communicated with the clean water tank 22 , and the heating device 24 is located in the water outlet pipe 30 is used to heat the water in the water outlet pipe 30.
  • the heating device 24 may be a resistance wire or a positive temperature coefficient (PTC for short) heating device disposed on the outer surface of the water outlet pipe 30, and the water delivery pipeline includes a first water delivery pipe 31 and a second water delivery pipe 32, wherein the first water delivery pipe 31 and the second water delivery pipe 32.
  • PTC positive temperature coefficient
  • the water pipe 31 communicates with the mop cleaning part 21 and is used to deliver hot water to the mop cleaning part 21
  • the second water delivery pipe 32 has an interface for supplying water to the water tank 17 of the cleaning device 100 and is used to deliver water to the water tank 17 of the cleaning device 100 Hot water, the hot water in the water tank 17 of the cleaning device 100 is sprayed by the water spray module 11 to the ground or the mopping member, so as to achieve the purpose of mopping the floor with the hot water of the cleaning device 100 and improve the cleaning effect.
  • this embodiment takes the water outlet pipe 30 located at the bottom of the clean water tank 22 as an example for description, but the application is not limited to this, the water outlet pipe 30 can also be arranged on the side of the clean water tank 22, and the present embodiment is here I won't go into details.
  • a first solenoid valve connected to the control system is provided between the clean water tank 22 and the water outlet pipe 30.
  • the first solenoid valve can control the opening and closing of the water outlet of the clean water tank 22 according to the water volume in the clean water tank 22.
  • the water outlet of the first water pipe 31 is provided with a second solenoid valve connected to the control system, the second solenoid valve is used to control the opening and closing of the water outlet of the first water pipe 31, and the water outlet of the second water pipe 32 is provided
  • the third solenoid valve 33 connected to the control system is used to control the opening and closing of the water outlet of the second water delivery pipe 32 .
  • the base station 200 also includes an electronic switch connected to the heating device 24 and the control system, and the control system can control the opening and closing of the electronic switch to realize the opening and closing of the heating device 24 .
  • the cleaning detector is used to detect whether the cleaning device 100 is cleaned by the cleaning part 21 of the mopping element. Specifically, it can be determined whether the cleaning device 100 is completed by setting a flowmeter at the water outlet of the first water delivery pipe 31 as a cleaning detector, that is, by using the flowmeter to detect whether the amount of water flowing out of the first water delivery pipe 31 reaches a preset value.
  • a timer can also be set at the water outlet of the first water pipe 31 as a cleaning detector, that is, the timer detects whether the water outlet of the first water pipe 31 has reached a preset time to determine whether the cleaning device 100 is completed. cleaning.
  • the first water volume sensor can be a pole piece. or flow meter.
  • the second water pump 34 can transport the water in the external water source into the clean water tank 22 , so as to realize the replenishment of the clean water tank 22 .
  • the cleaning device 100 cleans the floor of the room, and when the power of the battery pack assembly on the cleaning device 100 is less than a preset power threshold, the cleaning device 100 automatically drives to the base station 200 .
  • the cleaning device 100 enters the base station 200 through the entrance on the base station 200 and stops at a preset parking position of the platform of the base station 200 .
  • the charging module on the cleaning device 100 is in contact with the power supply component on the base station 200, the base station 200 obtains power from the commercial power, and charges the battery pack assembly of the cleaning device 100 through the power supply component and the charging module. After the cleaning device 100 is fully charged, drive away from the base station 200 to continue cleaning the room floor.
  • the cleaning device 100 When the cleaning device 100 is a mopping robot, and the bottom of the mopping robot is provided with a mopping member, the cleaning device 100 is used for mopping and cleaning the ground.
  • the cleaning device 100 mops the floor of the room for a period of time.
  • the cleaning device 100 drives to the base station 200 (the clean water tank 22 of the base station 200 is filled with clean water at this time), and the cleaning device 100 passes through the entrance on the base station 200 Enter the base station 200 and park at the preset parking position on the base station 200 .
  • the mopping member of the cleaning device 100 is accommodated on the mopping member cleaning portion 21, and the control system controls the opening of the first solenoid valve, the heating device 24, the second solenoid valve and the first water pump in sequence.
  • the clean water in the clean water tank in the base station 200 flows to the cleaning tank of the mopping element cleaning part 21, and is sprayed onto the mopping element through the liquid inlet structure on the mopping element cleaning part 21.
  • the raised cleaning ribs in the tank are scraped to clean the mopping parts.
  • the dirty sewage after cleaning the mopping parts flows out of the cleaning tank from the drainage structure on the cleaning tank.
  • dirty sewage is collected into the sewage tank 23 .
  • the base station 200 described in the embodiment of the present application is only a specific example, and does not constitute a specific limitation on the base station 200 in the embodiment of the present application.
  • the base station 200 in the embodiment of the present application may also be other specific implementation manners.
  • the base station 200 of the example may not include the clean water tank 22, and the base station body 20 may be connected to a tap water pipe and a drain pipe, so that tap water from the tap water pipe is used to clean the mopping parts of the cleaning device 100, and the dirty sewage after cleaning the mopping parts is drained by the cleaning tank.
  • the tubes flow out of the base station 200 .
  • the base station 200 may have more or fewer components than the base station 200 shown in Figures 2-3.
  • control method for a cleaning system, the control method includes:
  • Step S00 obtaining a work instruction of the base station 200
  • the work instruction of the base station 200 may include a cleaning instruction or a heating instruction
  • Step S01 obtaining position information of the cleaning device 100 docked on the platform, and determining whether the cleaning device 100 is docked in place;
  • an in-position detector 28 is provided at a position corresponding to a preset area of the platform on the base station 200, and the presence detector 28 detects whether the cleaning device 100 is parked in the preset area of the platform.
  • Step S011 it is determined that the cleaning device 100 is parked in place, and then the water quantity information in the clean water tank 22 is acquired.
  • Step S012 it is determined that the cleaning device 100 is not parked in place, then control the cleaning device 100 to adjust the position and re-align, or send a reminder through the control system to manually correct the parking position of the cleaning device 100;
  • step S011 is performed again;
  • Step S02 judging whether the clean water tank 22 satisfies the water outlet condition
  • the clean water tank 22 when the cleaning instruction is executed, the clean water tank 22 must ensure that there is enough water in order to meet the water outlet conditions.
  • the water volume information in the clean water tank 22 is obtained through the flow meter in the clean water tank 22, and the flow meter will obtain the water quantity information in the clean water tank 22.
  • the information of the water volume is sent to the control system, and the control system judges whether the fresh water tank 22 meets the water outlet conditions according to the actual water volume information in the fresh water tank 22 .
  • step S020 it is determined that the clean water tank 22 is short of water, and the water outlet condition is not satisfied, and the control system controls the external water source to supply water to the clean water tank 22; specifically, when the water volume detected by the flowmeter in the clean water tank 22 is less than the first water volume preset value , then it is determined that the clean water tank 22 is short of water and cannot meet the water outlet conditions.
  • the control system controls the opening of the external water source and the second water pump 34 to realize the replenishment of the clean water tank 22.
  • the second water pump 34 can transport the external water source to the clean water tank 22. ;
  • step S02 is performed again;
  • step S021 it is determined that the clean water tank 22 is not short of water, that is, the water in the clean water tank 22 meets the water volume required for the water outlet, then the water outlet of the clean water tank 22 and the opening of the heating device 24 are controlled; specifically, when the flowmeter in the clean water tank 22 detects The amount of water received is greater than or equal to the preset value of the first water amount, then it is determined that the clean water tank 22 is not short of water, the clean water tank 22 meets the water outlet conditions, and the control system controls the first solenoid valve, the second solenoid valve, and the heating device 24 of the clean water tank 22 And the cleaning part 21 of the mopping element is turned on. At this time, the water in the clean water tank 22 flows into the water outlet pipe 30, the heating device 24 starts to heat the water in the water outlet pipe 30, and the water heated by the heating device 24 passes through the first water pipe 31. into the mop cleaning section 21 .
  • step S03 the mopping member cleaning part 21 is controlled to be turned on, and the mopping member in the mopping member cleaning part 21 is cleaned.
  • Step S04 judging whether the cleaning part 21 of the mopping part has finished cleaning the mopping part
  • the flow meter or timer on the first water delivery pipe 31 is used to detect the water output or cleaning time of the mop cleaning part 21 to the mopping part, and judge whether the mopping part cleaning part 21 is completed according to the water output or the cleaning time. Cleaning of mopping parts.
  • step S040 it is determined that the mopping member cleaning unit 21 has not finished cleaning the mopping member, and then continues to clean the mopping member.
  • step S04 is performed again;
  • step S041 it is determined that the mopping member cleaning unit 21 has completed the cleaning of the mopping member, and then the mopping member cleaning unit 21 is turned off to clean the mopping member.
  • step S041 it further includes:
  • Step S05 obtain the water quantity information in the water tank 17 of the cleaning device 100;
  • the cleaning device 100 needs to ensure that there is enough water in order to perform the next mopping.
  • the flow meter in the water tank 17 of the cleaning device 100 is used. Acquire the water quantity information in the water tank 17, and the flowmeter transmits the acquired water quantity information to the control system;
  • Step S06 judging whether the water tank 17 of the cleaning device 100 satisfies the water replenishment condition
  • control system judges whether the water tank 17 satisfies the water replenishment condition according to the actual water volume information in the water tank 17;
  • step S060 it is determined that the water tank 17 is short of water, and the water replenishment condition is satisfied, and the control system controls the third solenoid valve 33 to open, and the hot water flows into the water tank 17 from the second water delivery pipe, thereby realizing the replenishment of the water supply tank 17; If the amount of water detected by the internal flowmeter is less than the preset value of the second amount of water, it is determined that the water tank 17 is short of water, and the water replenishment condition is met, and the control system controls the third solenoid valve 33 to open to realize the replenishment of water to the water tank 17;
  • step S06 is performed again;
  • step S061 it is determined that the water tank 17 is not short of water, that is, the water in the water tank 17 can meet the water amount required for the next mopping, then the first solenoid valve, the second solenoid valve, the heating device 24 and the second water pump 34 are controlled to be turned off. Specifically, when the amount of water detected by the flow meter in the water tank 17 is greater than or equal to the preset value of the second water amount, it is determined that the water tank 17 is not short of water, and the water in the water tank 17 meets the water amount required for the next mopping, and the control system Control the closing of the first solenoid valve, the second solenoid valve, the heating device 24 and the second water pump 34 of the water tank 17. At this time, the external water source is not supplying water to the clean water tank 22, and the heating device 24 stops heating.
  • step S041 it further includes:
  • Step S07 controlling the opening of the suction device
  • control system controls the suction device to turn on, and the suction device pumps the sewage in the mopping part cleaning part 21 to the sewage tank 23 at this time;
  • Step S08 determining that the power of the cleaning device 100 is lower than a preset power value, and controlling the activation of the charging device on the base station 200;
  • the electrical connection between the charging device on the base station 200 and the charging module of the cleaning device 100 is controlled, so as to realize the charging of the cleaning device 100;
  • step S09 it is determined that the base station 200 has completed the charging of the cleaning device 100, and the charging device of the base station 200 is controlled to be turned off and the drying device is turned on.
  • control system controls the drying device to be turned on, so as to dry the cleaning device 100 .
  • the cleaning device 100 may also be sterilized, so as to improve the use effect of the cleaning device 100 .
  • step S021 it may further include:
  • Step S10 it is determined that the temperature value and/or the current value of the heating device 24 satisfies the preset continuous opening condition of the heating device 24, and the heating device 24 is controlled to continue to be turned on;
  • the control system will turn off the heating device 24 and stop the Heating can play the role of safety protection.
  • the control system if the temperature value and/or current value of the heating device 24 detected by the overload protector is less than or equal to the first temperature preset value and the first current preset value, the control system Then continue to turn on the heating device 24 .
  • step S11 it is determined that the mopping member cleaning unit 21 has completed cleaning the mopping member and/or replenishing water to the water tank 17 of the cleaning device 100, and controls the disconnection of the heating device 24 to stop heating.
  • step S021 it further includes:
  • step S12 according to the water temperature of the hot water, the flow rate of the water outlet from the clean water tank 22 and/or the heating power of the heating device 24 are controlled to maintain a constant temperature of the hot water.
  • the temperature detector acquires the temperature of the hot water heated by the heating device 24, and if the hot water temperature is not equal to 40°C, the control system controls the flow rate of the water outlet from the clean water tank 22 and/or the heating power of the heating device 24 to adjust the hot water temperature to keep the hot water temperature at 40°C.
  • the clean water flowing out of the clean water tank is heated in real time, and the heated water can be used to clean the cleaning equipment and/or replenish water to the cleaning equipment. Mopping the floor makes the cleaning effect of the cleaning equipment better, and on the other hand, it also improves the cleaning effect of the cleaning equipment of the mopping part on the base station.
  • Some embodiments of the present invention provide a computer device including a memory, a controller, and a computer program stored in the memory and running on the controller, and the controller implements the steps of the cleaning system control method when the computer program is executed.
  • Another embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a controller, implements the steps of the cleaning system control method of any one of the foregoing embodiments.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

L'invention concerne une station de base (200) pour un appareil de nettoyage. La station de base comprend : un corps de station de base (20) ; une partie de nettoyage de balai-éponge (21) ; un réservoir d'eau claire (22) ; un dispositif de chauffage (24) disposé sur le corps de station de base (20) et positionné sur une conduite d'un tuyau de sortie d'eau (30) ; une conduite de distribution d'eau en communication avec le tuyau de sortie d'eau (30) et positionnée en aval du dispositif de chauffage (24), la conduite de distribution d'eau étant en communication avec la partie de nettoyage de balai-éponge (21) et étant pourvue d'un raccord pour alimenter en eau un réservoir d'eau d'appareil de nettoyage ; et un système de commande disposé sur le corps de station de base (20) et qui commande au moins le dispositif de chauffage (24). L'autonomie de l'appareil de nettoyage est assurée et un meilleur effet de nettoyage de l'appareil de nettoyage est fourni en raison du lavage à l'eau chaude ; et l'effet de nettoyage de la partie de nettoyage de balai-éponge (21) sur l'appareil de nettoyage est amélioré.
PCT/CN2021/109652 2021-02-18 2021-07-30 Station de base pour appareil de nettoyage, système de nettoyage, procédé de commande, appareil informatique et support de stockage lisible par ordinateur WO2022174558A1 (fr)

Applications Claiming Priority (2)

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CN202110187492.XA CN112914442B (zh) 2021-02-18 2021-02-18 清洁设备用基站、清洁系统、控制方法及计算机设备
CN202110187492.X 2021-02-18

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WO2022174558A1 true WO2022174558A1 (fr) 2022-08-25

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CN112914442B (zh) * 2021-02-18 2022-11-08 美智纵横科技有限责任公司 清洁设备用基站、清洁系统、控制方法及计算机设备
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