CN110946523A - Unmanned ground cleaning machine supply station - Google Patents
Unmanned ground cleaning machine supply stationDownload PDFInfo
- Publication number
- CN110946523A CN110946523ACN201911343289.6ACN201911343289ACN110946523ACN 110946523 ACN110946523 ACN 110946523ACN 201911343289 ACN201911343289 ACN 201911343289ACN 110946523 ACN110946523 ACN 110946523A
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Classifications
- 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
- 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
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
- 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
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Technical Field
The invention relates to the technical field of unmanned ground washing machines, in particular to a supply station of an unmanned ground washing machine.
Background
The traditional ground washing mode requires manual work, the floor washing operation is carried out manually by adopting a mop or driving floor washing equipment, along with the technical progress and the development of technology, the floor washing machine is intelligent and networked, and the unmanned floor washing machine is a product of the technical development.
Unmanned floor scrubber is in the in-service use, can carry out systematic cleaning to the rubbish of belonging to regional according to its inside program programming, inside image identification and a series of mechanical cooperation, however, there is technical difficulty still to the in-process that unmanned floor scrubber washed, the problem of unmanned aerial vehicle continuation of the journey, unmanned aerial vehicle cleans the back to regional rubbish, how self-discharge of inside rubbish, when the water tank supply, all there is technical difficulty, consequently, design a section with regard to these technical difficulties and be used for carrying out the supply station of supply to unmanned floor scrubber.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a supply station of an unmanned ground washing machine, which is used for supplying electric quantity for the unmanned ground washing machine in a cruising way without manual operation, optimizing route planning in a cruising and charging process of the unmanned ground washing machine, monitoring the states of a drain tank and a water supply tank in real time and carrying out water supply and drain operation on the unmanned ground washing machine.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a supply station of an unmanned ground washing machine comprises a supply station and the unmanned ground washing machine, wherein the supply station is at most provided with a wireless charging module, a water supply tank, a water drainage tank and a ZigBee communication module 2, a control circuit for controlling the wireless charging module, the water supply tank, the water discharge tank and the ZigBee communication module 2 is arranged in the supply station, the control circuit is electrically connected with a 220V alternating current power supply, the wireless charging module comprises an image acquisition and identification module, the image acquisition and identification module is used for capturing and identifying moving objects, the wireless charging module also comprises a wireless charging panel which is vertically arranged at the left side of the supply station and is electrically connected with the control circuit, the power-on is realized under the control of the control circuit, the water supply tank is provided with a mechanical drain valve and a water supply tank liquid level sensor, and the drain tank comprises a mechanical water supply valve and a drain tank liquid level sensor;
unmanned floor cleaning machine is provided with the electric quantity real-time supervision module that is used for detecting the battery electric quantity including built-in battery andzigBee communication module 1 in unmanned floor cleaning machine, electric quantity real-time supervision module is connected with the battery electricity, be provided with GPS orientation module and navigation module in unmanned floor cleaning machine, in zigBeecommunication module 1 and zigBee communication module 2 signal transmission, navigation module can acquire the optimal route to the supply station, and unmanned floor cleaning machine still is provided with laser radar induction system for carry out priority planning to unmanned floor cleaning machine's route, one side of unmanned floor cleaning machine is provided with the radio and accepts the electric quantity module, still be provided with storage water tank and dirty case in the unmanned floor cleaning machine, be provided with first level sensor and second level sensor in storage water tank and the dirty case respectively.
In the supply station of the unmanned floor washing machine, preferably, the supply station and the unmanned floor washing machine are always in communication connection in a local area network.
In the supply station of the unmanned ground washing machine, preferably, a 3D camera is further disposed at the front side of the unmanned ground washing machine, and is used for recognizing the target supply station, capturing a corresponding parking position to obtain an image, and recognizing the image to confirm whether the unmanned ground washing machine reaches the corresponding parking position.
In the supply station of the unmanned ground washing machine, preferably, an indicator lamp is arranged at the top of the supply station, the indicator lamp is electrically connected with the control circuit, and the indicator lamp is provided with three bulbs which are respectively used for feeding back whether the wireless charging module, the water supply tank and the drainage tank complete the operation or not.
In the supply station of the unmanned floor washing machine, preferably, the mechanical drain valve is in communication connection with the water level sensor of the water supply tank through the control circuit, and after the ZigBeecommunication module 1 and the ZigBee communication module 2 confirm that the unmanned floor washing machine is successfully connected with the supply station, the mechanical drain valve and the mechanical water supply valve can both realize pollution discharge and water supply operations of the unmanned floor washing machine.
In the supply station of the unmanned ground washing machine, preferably, the first liquid level sensor and the second liquid level sensor are used for detecting liquid levels in the water storage tank and the sewage storage tank.
(III) advantageous effects
The invention provides a supply station of an unmanned ground washing machine. The method has the following beneficial effects:
(1) the supply station and the unmanned ground washing machine are matched with each other for use, signals are transmitted between the supply station and the unmanned ground washing machine through the ZigBeecommunication module 1 and the ZigBee communication module 2, the electric quantity in the unmanned ground washing machine can be detected in real time, when the electric quantity in the unmanned ground washing machine reaches the lowest peak value, the ZigBeecommunication module 1 and the ZigBee communication module 2 are controlled by the control circuit, a section of route is optimized between the GPS positioning module and the supply station, and then the unmanned ground washing machine can run to the supply station for electric quantity supplement through the navigation module.
(2) The wireless charging module and the wireless electric quantity receiving module are matched with each other, when the unmanned ground washing machine reaches the specified position and the wireless charging module and the wireless electric quantity receiving module are close to each other, the charging operation can be realized, and when the electric quantity real-time detection module detects that the electric quantity of the storage battery is full, the control circuit can close the wireless charging plate.
(3) The unmanned ground washing machine stops at the designated position of the supply station, the ZigBeecommunication module 1 and the ZigBee communication module 2 can detect the conditions of the first liquid level sensor and the second liquid level sensor and can control the mechanical drain valve and the mechanical water supply valve, the water supply tank is communicated with the water storage tank of the unmanned ground washing machine at the moment, and the water storage tank can be communicated with the sewage storage tank of the unmanned ground washing machine, so that the operations of water supplement and sewage discharge are realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic block diagram of the present invention.
In the figure: 1 supply station.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the present invention provides a technical solution: a supply station of an unmanned ground washing machine comprises asupply station 1 and the unmanned ground washing machine, wherein thesupply station 1 is at most provided with a wireless charging module, a water feeding tank, a water discharging tank and a ZigBee communication module 2, a control circuit for controlling the wireless charging module, the water feeding tank, the water discharging tank and the ZigBee communication module 2 is arranged in the supply station, the control circuit is electrically connected with a 220V alternating current power supply, the wireless charging module comprises an image acquisition and identification module which is fixedly connected with one side of the unmanned ground washing machine and used for capturing and identifying moving objects, the wireless charging module further comprises a wireless charging plate, the wireless charging plate is vertically arranged at the left side of thesupply station 1 and electrically connected with the control circuit, the electrification is realized under the control of the control circuit, and the water feeding tank is provided with a mechanical drain valve and a water feeding tank liquid level sensor, the drainage tank comprises a mechanical water supply valve and a drainage tank liquid level sensor;
unmanned floor cleaning machine is including built-in battery andzigBee communication module 1 inside unmanned floor cleaning machine, be provided with the electric quantity real-time supervision module that is used for detecting the battery electric quantity, electric quantity real-time supervision module is connected with the battery electricity, be provided with GPS orientation module and navigation module in unmanned floor cleaning machine, in zigBeecommunication module 1 and zigBee communication module 2 signalling, navigation module can acquire the optimal route tosupply station 1, and unmanned floor cleaning machine still is provided with laser radar induction system, a route for carrying out priority planning to unmanned floor cleaning machine, one side of unmanned floor cleaning machine is provided with the radio and receives the electric quantity module, still be provided with storage water tank and storage dirty case in the unmanned floor cleaning machine, be provided with first level sensor and second level sensor in storage water tank and the storage dirty case respectively.
When concrete implementation, unmanned ground cleaning machine passes through laser radar, the position of sensors such as 3D camera detect the workstation to automatic alignment and butt joint workstation, in specific path, GPS orientation module and navigation module pass through zigBeecommunication module 1 and zigBee communication module 2 withsupply station 1, in order to guarantee the route planning back, unmanned ground cleaning machine can be quickreach supply station 1, in addition under the effect of sensors such as laser radar, 3D camera, can also judge the barrier.
After the unmanned ground washing machine enters the station, the unmanned ground washing machine communicates with thesupply station 1 through the ZigBeecommunication module 1 and the ZigBee communication module 2 to confirm that the unmanned ground washing machine enters the station, the unmanned ground washing machine detects the current electric quantity of the storage battery according to the electric quantity real-time detection module after entering the station, whether electric energy needs to be supplemented is determined, if charging is needed, the unmanned ground washing machine sends a charging request to thesupply station 1 through the ZigBeecommunication module 1 and the ZigBee communication module 2 to control the wireless charging module to send the charging request, and thesupply station 1 controls the wireless charging module to open the wireless charging panel to start charging for the unmanned ground washing machine. The BMS module of unmanned floor washing machine can feed back the electric quantity and the voltage state of the battery to the wireless charging module of the control of thesupply station 1 in the process, and the wireless charging module of the control of thesupply station 1 can cut off the sending end of the wireless charger when the charging is abnormal or the battery is full of, so that the charging process is controllable.
Unmanned floor scrubber also can decide whether need the sewage of discharging according to the water yield of current sewage case, when unmanned floor scrubber opened the drainage sewage,supply station 1 control wireless charging module can open the drain valve automatically,supply station 1 control wireless charging module can detect sewage case liquid level situation through sewage case level sensor simultaneously, can send the instruction of suspend blowdown to unmanned floor scrubber through zigBeecommunication module 1 and zigBee communication module 2 whensupply station 1 sewage case water level is too high, make floor scrubber stop the blowdown, can prevent that the too big orsupply station 1 sewage case overflow problem that leads to ofsupply station 1 blowdown pipeline jam of floor scrubber blowdown flow. When the water level of the sewage tank of thesupply station 1 is recovered to be normal, a drainage recovery instruction is sent to the unmanned ground washing machine through the ZigBeecommunication module 1 and the ZigBee communication module 2, the unmanned ground washing machine recovers drainage until the unmanned ground washing machine feeds back that the sewage tank is emptied to thesupply station 1, and the drainage process is stopped. After the replenishingstation 1 detects that the sewage tank of the replenishingstation 1 is emptied, the drainage process is ended, and the replenishingstation 1 closes the drainage valve.
Unmanned floor cleaning machine also can decide whether need supply clear water according to the water yield of current clear water tank, open the benefit clear water mode back when unmanned floor cleaning machine, unmanned floor cleaning machine stretches out the water sucking mouth and opens the water pump and begin to absorb water,supply station 1 can judge whether need open the feed valve and supply 1 clear water tank moisturizing in supply station according to the water level condition that clear water tank level sensor detected, it is thesupply station 1 control wireless module of charging to open the feed valve and begin to supply water for 1 clear water tank in supply station to be less than minimum liquid level when the face,supply station 1 control wireless module of charging closes the feed valve when 1 clear water tank water level in supply station is higher than the highest water level, prevent that the clear water tank is excessive. And ending all water supplementing processes until the unmanned floor washing machine sends out water supplementing stopping.
In the supply station of the unmanned ground washing machine, thesupply station 1 and the unmanned ground washing machine are always in communication connection in the local area network and are used for monitoring the internal electric quantity, water quantity and sewage quantity of the unmanned ground washing machine in real time by thesupply station 1.
In the supply station of the unmanned ground washing machine, a 3D camera is further arranged on the front side of the unmanned ground washing machine and is used for identifying thetarget supply station 1, shooting the parking position corresponding to the target supply station to obtain an image, and identifying the image to confirm whether the unmanned ground washing machine reaches the corresponding parking position.
In the supply station of the unmanned ground washing machine, the top of thesupply station 1 is provided with an indicator light which is electrically connected with the control circuit, and the indicator light is provided with three bulbs which are respectively used for feeding back whether the wireless charging module, the water supply tank and the drainage tank complete the operation or not.
The unmanned ground washing machine supply station is characterized in that a mechanical drain valve is in communication connection with a water supply tank liquid level sensor through a control circuit, after the ZigBeecommunication module 1 and the ZigBee communication module 2 confirm that the unmanned ground washing machine is successfully connected with the supply station, the mechanical drain valve and the mechanical water supply valve can both realize sewage discharge and water supply operations on the unmanned ground washing machine, the mechanical water supply valve controls tap water to the water supply tank, an unmanned aerial vehicle automatically extends out of a water suction pipe to suck water and supplement according to the state when entering the station, an electric drainage pump is further arranged in the drainage tank and is responsible for pumping away sewage of the drainage tank, the unmanned aerial vehicle automatically opens an electromagnetic valve according to the state when entering the station to discharge the sewage into a drainage tank of the supply station, and the supply station timely opens the electric drainage pump according to the liquid level of the drainage tank to discharge the sewage to a.
In the supply station of the unmanned ground washing machine, further, the first liquid level sensor and the second liquid level sensor are used for detecting the liquid levels in the water storage tank and the sewage storage tank.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides an unmanned scrubber supply station, includes supply station (1) and unmanned scrubber, its characterized in that: the supply station (1) is at most provided with a wireless charging module, a water feeding tank, a water discharging tank and a ZigBee communication module 2, a control circuit for controlling the wireless charging module, the water feeding tank, the water discharging tank and the ZigBee communication module 2 is arranged in the supply station, the control circuit is electrically connected with a 220V alternating current power supply, the wireless charging module comprises an image acquisition and identification module, the image acquisition and identification module is used for capturing and identifying moving objects, the wireless charging module further comprises a wireless charging plate, the wireless charging plate is vertically arranged on the left side of the supply station (1), the wireless charging plate is electrically connected with the control circuit, electrification is realized under the control of the control circuit, a mechanical drain valve and a water feeding tank liquid level sensor are arranged on the water feeding tank, and the water discharging tank comprises a mechanical water supply valve and a water discharging tank liquid level sensor;
unmanned floor cleaning machine is provided with the electric quantity real-time supervision module that is used for detecting the battery electric quantity including built-in battery and zigBee communication module 1 in unmanned floor cleaning machine, electric quantity real-time supervision module is connected with the battery electricity, be provided with GPS orientation module and navigation module in unmanned floor cleaning machine, in zigBee communication module 1 and zigBee communication module 2 signal transmission, navigation module can acquire the optimal route to supply station (1), and unmanned floor cleaning machine still is provided with laser radar induction system for carry out priority planning to unmanned floor cleaning machine's route, one side of unmanned floor cleaning machine is provided with the radio and accepts the electric quantity module, still be provided with storage water tank and dirty case in the unmanned floor cleaning machine, be provided with first level sensor and second level sensor in storage water tank and the dirty case respectively.
2. The unmanned scrubber supply station of claim 1, wherein: the supply station (1) and the unmanned ground washing machine are always in communication connection in the local area network.
3. The unmanned scrubber supply station of claim 1, wherein: the front side of the unmanned ground washing machine is also provided with a 3D camera which is used for identifying the target replenishment station (1), shooting the parking position corresponding to the 3D camera to obtain an image, and identifying the image to confirm whether the unmanned ground washing machine reaches the corresponding parking position.
4. The unmanned scrubber supply station of claim 1, wherein: the top of supply station (1) is provided with the pilot lamp, the pilot lamp is connected with the control circuit electricity, and the pilot lamp has three bulb, is used for feeding back wireless module, feed tank and the drain tank of charging respectively and whether accomplishes the operation.
5. The unmanned scrubber supply station of claim 1, wherein: the mechanical drain valve is in communication connection with the water supply tank liquid level sensor through the control circuit, and after the ZigBee communication module 1 and the ZigBee communication module 2 confirm that the unmanned floor washing machine is successfully connected with the supply station, the mechanical drain valve and the mechanical water supply valve can both realize pollution discharge and water supply operations on the unmanned floor washing machine.
6. The unmanned scrubber supply station of claim 1, wherein: the first liquid level sensor and the second liquid level sensor are used for detecting liquid levels in the water storage tank and the sewage storage tank.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911343289.6ACN110946523A (en) | 2019-12-24 | 2019-12-24 | Unmanned ground cleaning machine supply station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911343289.6ACN110946523A (en) | 2019-12-24 | 2019-12-24 | Unmanned ground cleaning machine supply station |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111671365A (en)* | 2020-05-01 | 2020-09-18 | 尹华飞 | Novel indoor cleaning robot capable of automatically filling disinfectant |
| CN112205938A (en)* | 2020-09-16 | 2021-01-12 | 深圳拓邦股份有限公司 | Sweeper pumping method, sweeper pumping device, charging seat, sweeper, system and medium |
| CN112401773A (en)* | 2020-11-19 | 2021-02-26 | 深圳市吉万实业有限公司 | Ground washing and suction drying unmanned system, equipment and control method |
| CN113017494A (en)* | 2021-03-09 | 2021-06-25 | 李侃 | Floor sweeping robot control method, device and system suitable for compound building |
| CN113017478A (en)* | 2021-04-20 | 2021-06-25 | 上海高仙自动化科技发展有限公司 | Water charging and discharging control method for water storage assembly, water storage assembly and cleaning robot |
| CN113729583A (en)* | 2021-09-26 | 2021-12-03 | 汇智机器人科技(深圳)有限公司 | Method, system and equipment for supplying floor washing machine |
| CN113892873A (en)* | 2021-10-19 | 2022-01-07 | 北京顺造科技有限公司 | Wet surface cleaning equipment and charging and discharging liquid level detection method of wet surface cleaning equipment |
| CN114052604A (en)* | 2020-07-30 | 2022-02-18 | 沈阳新松机器人自动化股份有限公司 | Autonomous water changing system and method for floor washing robot |
| WO2022134447A1 (en)* | 2020-12-24 | 2022-06-30 | 北京小米移动软件有限公司 | Drying base and floor scrubber |
| WO2022151626A1 (en)* | 2021-01-18 | 2022-07-21 | 北京小米移动软件有限公司 | Resupplying base and resupplying method for floor washing device, and floor washing machine |
| CN115089054A (en)* | 2022-06-29 | 2022-09-23 | 北京小米移动软件有限公司 | Cleaning equipment, cleaning equipment monitoring method and device |
| WO2022199120A1 (en)* | 2021-03-23 | 2022-09-29 | 深圳市银星智能科技股份有限公司 | Overflow prevention system for base station, and base station |
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