CN111973095A

CN111973095A - Automatic navigation unmanned ground washing and drying machine

Info

Publication number: CN111973095A
Application number: CN202010765666.1A
Authority: CN
Inventors: 汪爱明
Original assignee: Wuhan Haden Intelligent Technology Co ltd
Current assignee: Wuhan Haden Intelligent Technology Co ltd
Priority date: 2020-08-03
Filing date: 2020-08-03
Publication date: 2020-11-24

Abstract

The invention discloses an automatic navigation unmanned ground washing and drying machine which comprises a chassis, a power wheel, a first motor arranged on a power wheel shaft core, a universal wheel arranged on the chassis behind the power wheel, a battery connected with the first motor arranged on the chassis, a circuit board arranged on the battery, an automatic sprinkling cleaning device arranged on the front part of the chassis, an automatic sewage dust recovery device arranged on the rear part of the chassis, an automatic sewage discharge device arranged on the automatic sewage dust recovery device, ultrasonic probes for sensing surrounding obstacles arranged on the two sides of the front end of the automatic sprinkling cleaning device and the rear end of the automatic sewage dust recovery device respectively, a laser scanner for sensing the surrounding obstacles arranged on the front end of the automatic sprinkling cleaning device, and a control screen arranged on the automatic sewage dust recovery device. The intelligent water-adding and pollution-discharging device has the effects of intelligently adding water, cleaning and discharging pollution, automatically charging, avoiding obstacles, avoiding wheel jamming and prompting by voice.

Description

Automatic navigation unmanned ground washing and drying machine

Technical Field

The invention relates to the field of floor cleaning equipment, in particular to an automatic navigation unmanned floor washing and drying machine for floor cleaning.

Background

With the rapid development of economy in China, tall buildings and mansions are increasingly large in apartment houses, office buildings, hotels, hospitals, shopping squares and the like, due to the fact that the flow of people is large, the ground is prone to getting dirty and needs to be cleaned frequently, but at present, ground cleaning machines on the market can only clean the ground, the ground which is cleaned is prone to slipping due to water stain residues on the ground, slipping is prone to occurring in places with large flow of people, the bottom surface is wet, and the ground is prone to getting dirty in the cleaning process. In addition, the existing cleaning machine is mainly operated by manual servo, namely the cleaning machine needs to be pushed to clean the floor, the operations including cleaning, water adding, sewage discharging and the like need to be completed by manual cooperation, the automatic degree is poor, and the labor cost is wasted.

Disclosure of Invention

In view of the above problems, the present invention is directed to an automatic navigation unmanned floor scrubber that can intelligently add water, clean and discharge sewage, automatically charge and avoid obstacles, and avoid jamming and voice prompt.

To achieve the above object, the present invention provides an automatic navigation unmanned ground washing and drying machine, wherein, comprises a chassis, power wheels respectively arranged on two sides of the chassis, a first motor arranged on a power wheel shaft core, universal wheels arranged on the chassis behind the power wheels, a battery connected with the first motor arranged on the chassis, a circuit board arranged on the battery, an automatic sprinkling cleaning device arranged on the front part of the chassis, an automatic sewage dust recovery device arranged on the rear part of the chassis, an automatic sewage discharge device arranged on the automatic sewage dust recovery device, and ultrasonic probes respectively arranged on two sides of the front end of the automatic sprinkling cleaning device and the rear end of the automatic sewage dust recovery device and used for sensing surrounding obstacles, be equipped with the laser scanner of response barrier on every side on automatic watering belt cleaning device's front end to and the control screen that is equipped with on automatic sewage dust recovery unit. Automatic sewage dust recovery unit, automatic waste fitting discharging, ultrasonic transducer and laser scanner, and control the screen and be connected with the circuit board respectively.

In some embodiments, the automatic watering cleaning device comprises a first bracket arranged on a chassis and extending towards the front end, a second motor arranged on the first bracket, a middle disk brush arranged below the first bracket and connected with the second motor, an outer ring brush covered on the periphery of the middle disk brush and connected with the first bracket, a water purifying tank arranged on the chassis on one side of the second motor, a first arc-shaped shell surrounded on the outer side of the water purifying tank, a purified water inlet extending out of the first arc-shaped shell arranged on the top of the water purifying tank, a purified water outlet elbow communicated with the water purifying tank and extending to the upper part of the middle disk brush arranged on the bottom of the water purifying tank, and a second arc-shaped shell surrounding the second motor and arranged below the first arc-shaped shell; the first arc-shaped shell and the second arc-shaped shell are spliced into a whole. An electronic valve is arranged on the clean water outlet bent pipe. The electronic valve and the second motor are respectively connected with the circuit board.

In some embodiments, a protective casing is disposed below the first bracket to cover the middle disk brush and the outer ring brush.

In some embodiments, the automatic sewage dust recycling apparatus includes a second bracket provided on the chassis to extend toward the rear end, an arc-shaped bracket provided on an end portion of the second bracket, a first elastic scraper provided on an arc-shaped inner side of the arc-shaped bracket, a second elastic scraper provided on an arc-shaped outer side of the arc-shaped bracket, and an arc-shaped groove formed between the first elastic scraper and the second elastic scraper and the arc-shaped bracket to collect sewage dust, the arc-shaped bracket is provided with a sewage suction hole communicated with the arc-shaped groove, a sewage collecting tank arranged on the battery above the sewage suction hole, a cleaning sewage port arranged on the sewage collecting tank, a water suction pipe communicated with the sewage suction hole and arranged at the bottom of the sewage collecting tank, and a third motor for sucking sewage and dust in the arc-shaped groove from the sewage suction hole and collecting the sewage and dust in the sewage collecting tank through the water suction pipe. The sewage water collecting tank is provided with a third arc-shaped shell which is spliced into a whole with the first arc-shaped shell and the second arc-shaped shell. The third motor is connected with the circuit board. Therefore, when the sewage in the sewage collecting tank is fully recovered, the automatic alarm can be given out, the operation is stopped, and the sewage collecting tank returns to a specified place for sewage discharge. The automatic sewage dust recovery device has an automatic cleaning function, and after sewage is discharged, the inside of the automatic sewage dust recovery device can be automatically washed by clean water. And after the cleaning is finished, the cleaning machine continues to work along the original route.

In some embodiments, a sealing cover is disposed on the third arc-shaped housing at the position of the cleaning sewage port.

In some embodiments, the automatic sewage draining device comprises a fourth motor arranged on the second arc-shaped shell, an L-shaped supporting rod arranged on the shaft core of the fourth motor, an L-shaped sewage draining pipe arranged on the outer side surface of the L-shaped supporting rod, a sewage draining outlet arranged at the bottom of the sewage collecting tank on one side of the L-shaped sewage draining pipe, and a connecting hose with one end connected with the sewage draining outlet and the other end connected with the L-shaped sewage draining pipe. The fourth motor is connected with the circuit board.

The automatic cleaning device has the beneficial effects of being free of manual work and capable of automatically cleaning. The method comprises the following specific steps: (1) the automatic navigation unmanned ground washing and drying machine automatically walks according to a pre-designed route after being started, automatically discharges water while utilizing the middle disk brush and the outer ring brush to scrub the ground in the process of traveling, and simultaneously collects sewage and dust in the arc-shaped groove in the automatic sewage and dust recovery device and sucks the sewage and dust into the sewage collecting tank through the water suction pipe, so that the purpose of automatically discharging water, cleaning and drying is achieved. In addition, the two sides of the front end of the automatic water spraying cleaning device and the rear end of the automatic sewage and dust recovery device are respectively provided with an ultrasonic probe for sensing surrounding obstacles, and the front end of the automatic water spraying cleaning device is provided with a laser scanner for sensing surrounding obstacles, so that when the automatic navigation unmanned ground washing dryer automatically walks along a route, if the automatic navigation ground washing dryer turns, the first motors on the two sides respectively adjust the rotating speed ratio of the two power wheels, and the purpose of turning is achieved. If the ultrasonic probe and the laser scanner check that the front surface of the ground is provided with the obstacle in the walking process, the automatic navigation unmanned ground washing and drying machine can wait for turns and avoid in situ for several seconds under the condition of spacious road surface, and then continue to walk to the end of the travel. If the road surface is narrow, the vehicle can stand by in situ and continue to travel after people or barriers are removed; the person or the obstacle continues to be immobile, and the alarm stops working after waiting for more than 5 minutes. (2) When the automatic navigation unmanned ground washing and drying machine walks the whole travel according to the route, the fourth motor in the automatic sewage discharge device rotates the L-shaped supporting rod after the fourth motor is used to return to the original point, the L-shaped sewage discharge pipe fixed on the L-shaped supporting rod rotates downwards for 180 degrees to discharge sewage, and the sewage discharge port is provided with a connecting hose with one end connected with the sewage discharge port and the other end connected with the L-shaped sewage discharge pipe, so that the limit can not be met in the rotating process. (3) When the automatic navigation unmanned ground washing and drying machine returns to the original point, the water can be supplemented to the water purifying tank, and the power supply can also be charged. (4) Floating induction balls are arranged in the water purification tank and the sewage water collection tank, wherein the floating induction balls in the water purification tank are used for checking whether water quantity meets the water quantity consumed by a stroke, and the floating induction balls in the sewage water collection tank are used for checking whether the water quantity exceeds the critical water level of the water tank. In summary, the automatic navigation unmanned ground washing and drying machine can automatically fill clear water to a fixed point, and automatically stops when the clear water is filled to a certain degree. In the running process, when the clear water is used up, the automatic alarm is given, the operation is stopped, and the water returns to the appointed place for automatic irrigation. After the operation is finished, the operation is continued along the original route. There may be an automatic charging function that automatically returns to a designated point for charging when the amount of electricity is low to a designated amount. After the work is completed, the device can also automatically return to the designated point for charging. The timing cleaning time can be set without manual operation. The device has an automatic obstacle avoidance function, and when the space is small and the obstacle cannot be avoided, the device can stop and give an alarm. In addition, the voice broadcasting prompt function is provided. And the power wheel is provided with an automatic adjusting mechanism up and down, so that when the equipment passes through an uneven road, the automatic adjusting mechanism can automatically adjust without slipping or jamming. The intelligent water adding and cleaning device realizes the effects of intelligent water adding, cleaning, self-charging, obstacle avoidance, wheel clamping avoidance and voice prompt.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of another perspective view 1 shown in FIG. 1;

FIG. 3 is a schematic view of another view 2 shown in FIG. 1;

FIG. 4 is a schematic view of another perspective view 3 shown in FIG. 1;

FIG. 5 is a schematic view of the internal structure of the present invention;

FIG. 6 is a schematic view of another view angle 1 shown in FIG. 5;

FIG. 7 is a schematic view of another view 2 shown in FIG. 5;

FIG. 8 is a schematic structural diagram of another view angle 3 shown in FIG. 5;

fig. 9 is a schematic diagram of an explosive structure according to the present invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1-9, the automatic navigation unmanned ground washing and drying machine comprises a chassis 01, power wheels 02 respectively arranged at two sides of the chassis 01, a first motor 03 arranged on the shaft core of the power wheels 02, a universal wheel 04 arranged on the chassis 01 behind the power wheels 02, a battery 05 connected with the first motor 03 arranged on the chassis 01, a circuit board 06 arranged on the battery 05, an automatic sprinkling cleaning device 07 arranged on the front part of the chassis 01, an automatic sewage dust recovery device 08 arranged on the rear part of the chassis 01, an automatic sewage dust recovery device 09 arranged on the automatic sewage dust recovery device 08, ultrasonic probes 10 respectively arranged at two sides of the front end of the automatic sprinkling cleaning device 07 and the rear end of the automatic sewage dust recovery device 08, and a laser scanner 11 arranged at the front end of the automatic sprinkling cleaning device 07 and used for sensing surrounding obstacles, and a control screen 10 arranged on the automatic sewage and dust recovery device 08. The automatic sewage dust recovery device 08, the automatic sewage draining device 09, the ultrasonic probe 10, the laser scanner 11 and the control screen 10 are respectively connected with the circuit board 06.

The automatic water sprinkling and cleaning device 07 comprises a first bracket 71 extending towards the front end and arranged on a chassis 01, a second motor 72 arranged on the first bracket 71, a middle disk brush 73 connected with the second motor 72 and arranged below the first bracket 71, an outer ring brush 74 covered on the periphery of the middle disk brush 73 and connected with the first bracket 71, a water purifying tank 75 arranged on the chassis 01 at one side of the second motor 72, a first arc-shaped shell 76 surrounding the outer side of the water purifying tank 75, a purified water inlet 77 extending out of the first arc-shaped shell 76 and arranged on the top of the water purifying tank 75, a purified water bent pipe 78 communicated with the water purifying tank 75 and extending to the upper part of the middle disk brush 73 and arranged on the bottom of the water purifying tank 75, and a second arc-shaped shell 79 surrounding the second motor 72 and arranged below the first arc-shaped shell 76. The first arc-shaped shell 76 and the second arc-shaped shell 79 are spliced into a whole. An electronic valve is arranged on the clean water outlet elbow 78. The electronic valve and the second motor 72 are connected to the circuit board 06, respectively.

A protective case 710 covering the middle disk brush 73 and the outer ring brush 74 is provided below the first bracket 71.

The automatic sewage and dust recovery device 08 comprises a second bracket 81 which is arranged on a chassis 01 and extends towards the rear end, an arc-shaped bracket 82 which is arranged on the end part of the second bracket 81, a first elastic scraper 83 which is arranged on the arc-shaped inner side of the arc-shaped bracket 82, a second elastic scraper 84 which is arranged on the arc-shaped outer side of the arc-shaped bracket 82, an arc-shaped groove 85 which is formed between the first elastic scraper 83 and the second elastic scraper 84 and the arc-shaped bracket 82 together and used for collecting sewage and dust, a sewage sucking hole 86 which is arranged on the arc-shaped bracket 82 and communicated with the arc-shaped groove 85, a sewage collecting tank 87 which is arranged on a battery 05 above the sewage sucking hole 86, a cleaning sewage port 88 which is arranged on the sewage collecting tank 87, and a water sucking suction pipe 89 which is communicated with the sewage sucking hole 86 and arranged on, and a third motor 810 which sucks sewage and dust in the arc-shaped groove 85 from the sewage suction hole 86 and collects the sewage and dust into the sewage collecting tank 87 through the water suction pipe 89 is arranged on the sewage collecting tank 87. The position of the sewage collecting tank 87 is provided with a third arc-shaped shell 811 which is spliced with the first arc-shaped shell 76 and the second arc-shaped shell 79 into a whole. The third motor 810 is connected to the circuit board 06. A sealing cover 812 is provided on the third arc-shaped housing 811 at the position of the washing sewage port 88.

The automatic sewage discharging device 09 comprises a fourth motor 91 arranged on the second arc-shaped shell 79, an L-shaped supporting rod 92 arranged on the shaft core of the fourth motor 91, an L-shaped sewage discharging pipe 93 arranged on the outer side surface of the L-shaped supporting rod 92, a sewage discharging port 94 arranged at the bottom of the sewage collecting tank 87 at one side of the L-shaped sewage discharging pipe 93, and a connecting hose with one end connected with the sewage discharging port 94 and the other end connected with the L-shaped sewage discharging pipe 93, wherein the connecting hose is arranged on the sewage discharging port 94. The fourth motor 91 is connected to the circuit board 06.

When the automatic navigation unmanned ground washing and drying machine is used, the automatic navigation unmanned ground washing and drying machine automatically travels according to a pre-designed route after being started, the automatic sprinkling and cleaning device 07 automatically drains water while scrubbing the ground by using the middle disk brush 73 and the outer ring brush 74 in the traveling process, and simultaneously sewage and dust collected in the arc-shaped groove 85 in the automatic sewage and dust recovery device 08 are sucked into the sewage water collecting tank 87 through the water suction pipe 89, so that the purpose of automatically draining water, cleaning and drying is achieved. In addition, the ultrasonic probes 10 for sensing surrounding obstacles are respectively arranged on the two sides of the front end of the automatic sprinkling cleaning device 07 and the rear end of the automatic sewage dust recovery device 08, and the laser scanner 11 for sensing surrounding obstacles is arranged on the front end of the automatic sprinkling cleaning device 07, so that when the automatic navigation unmanned ground washing dryer automatically walks along a route, if the automatic navigation unmanned ground washing dryer turns, the rotating speed ratio of the two power wheels 02 is respectively adjusted through the first motors 03 on the two sides, and the purpose of turning is achieved. If the ultrasonic probe 10 and the laser scanner 11 check that the front surface of the road is an obstacle in the walking process, under the condition of a spacious road surface, the automatic navigation unmanned ground washing and drying machine can wait for several seconds in situ to turn and avoid, and then continuously walk the journey. If the road surface is narrow, the vehicle can stand by in situ and continue to travel after people or barriers are removed; the person or the obstacle continues to be immobile, and the alarm stops working after waiting for more than 5 minutes. When the automatic navigation unmanned ground washing and drying machine walks the whole travel according to the route, the fourth motor 91 in the automatic sewage discharge device 09 rotates the L-shaped supporting rod 92 after returning to the original point and utilizing, and the L-shaped sewage discharge pipe 93 fixed on the L-shaped supporting rod 92 rotates downwards for 180 degrees for sewage discharge, and because the sewage discharge port 94 is provided with the connecting hose with one end connected with the sewage discharge port 94 and the other end connected with the L-shaped sewage discharge pipe 93, the limitation can not be caused in the rotating process. When the autopilot-type floor scrubber returns to the home position, the clean water tank 75 can be replenished with water or the power supply can be charged with electricity. Floating sensing balls are provided in the clean water tank 75 and the wastewater collection tank 87, wherein the floating sensing balls in the clean water tank 75 are used to check whether the water volume satisfies the water volume consumed for one trip, and the floating sensing balls in the wastewater collection tank 87 are used to check whether the water volume exceeds the critical water level of the tank.

The automatic navigation system is formed by combining ultrasonic waves on four corners of an EAI laser radar range finder G4+ and realizes the 16-meter ranging radius, the 9000 times/S ranging frequency and the 12Hz wireless technology, so that the robot can quickly and accurately establish a map and accurately capture the details and tiny objects of the environment.

And (3) map entry:

an automatic navigation system: firstly, the cross steering wheel (similar to the direction of an automobile) passes through an operation interface (an operation system on a hand-held touch) manuallyDisk function) to drive the AGV to walk one time first (i.e. to read the map in the designated site) according to the preset path in the designated site. On AGVEAI (brand) lidar rangefinder G4,the objects fixed in the ground such as the open ground, the wall, the pillar, the desk and the like in the ground can be taken as barriers to be scanned into the map of the ground one by one. When the AGV trolley is manually operated by the touch screen, all map recording functions of the site can be realized after the preset route is once walked.

After the input map is finished, optimizing the path of the AGV

After arbitrarily selecting the designated N path points (i.e., the locations where the AGV carts pass) in the lot, the AGV carts arrive at each location in the optimized sequence (transport the required items to the designated N1, N2. The starting point, the automatic charging point, the sewage discharging point, the automatic water adding point and the equal path point are manually arranged at corresponding positions on the site map one by one. For example: when the battery electric quantity is not enough, the system can detect and feed back the battery electric quantity to activate the automatic charging function in the system, and the AGV trolley can automatically reach an automatic charging point and then be charged after optimizing a path according to a map of the field.

Automatic avoidance: when additional items, people or cartons, appear on the lot map that are empty by default (on a path that can be traversed), the AGV cart passes there,laser radar range finder G4The system can detect that the obstacle appears on the path that the AGV dolly gos forward, can feed back to the system, and the system is optimized according to self, and the turn is dodged (as driving the car, the turn is dodged the pedestrian). According to the length, the width and the height of the given appearance of the AGV, data of the AGV is input into the AGV system, the size of the appearance of the AGV can be matched with the data of a site, the space required by turning and avoiding of the AGV is calculated according to the data fed back by the laser radar range finder G4, and then turning and avoiding actions are carried out. When the surrounding space is insufficient: when the turning space is not enough, the AGV can be suspended, and after the pedestrian leaves, (the AGV can continue to work after being rotated by 360 degrees at a high speed to be detected) all the time in G4. Or the surrounding space is not enough all the time, the AGV can give an alarmAnd (4) allowing manual treatment.

Automatic charging function

Charging pile: on the AGV dolly: the AGV comprises 2 brass electrodes exposed from the upper outer side of the AGV, an insulating base plate for fixing the electrodes, a cable connected to a lithium battery and the like. Power supply (fixed on the wall at the specified location): the AGV charging device comprises a transformer for converting direct current 220V into DC24V, 2 protruding brass electrodes, an insulating base plate for fixing the brass electrodes and the like, wherein a power supply is changed to be continuously electrified for 24 hours, so that the AGV trolley can be conveniently charged at any time.

Voice alarm prompting function

The system G4 or auxiliary ultrasonic wave or other feedback signals of a floating ball switch arranged in the system are fed back to the system, and then the signals are in one-to-one correspondence to corresponding voice alarm, and then the system-sound box-voice alarm is given out.

For example:

g4 detects a pedestrian, it may prompt the voice: the cleaning trolley is about to pass through the cleaning trolley, and people are troubled to avoid the cleaning trolley. When float switch detects clear water not enough, can voice prompt: when the cleaning water is insufficient, the cleaning is suspended and the clean water is automatically supplemented. And then cleaning is continued. The left power wheel and the right power wheel of the power wheel set are independent, each power wheel is composed of a fixing seat, a guide post, a spring, a sliding block and the like, and the power wheels can stretch in the vertical direction. When the AGV passes through an uneven road surface, the power wheels on the left side and the right side are automatically adjusted by self weight according to the flatness of the road surface, so that the support balance of the power wheels on the left side and the right side is ensured. When the pits exist on the road surface, the springs can press the power wheels out, and the power wheels in the pits are ensured to contact with the pit surface, so that the overall balance of the AGV trolley is ensured, and the AGV trolley is not inclined. And (3) sewage treatment, wherein a floating ball switch is arranged in the sewage tank, the lowest/highest water level is set when the floating ball is installed, and when the water level in the sewage tank reaches the highest level, the sewage tank is full of sewage. When the water level of the sewage tank is lowest, the sewage discharge is finished. The sewage switch is provided with an electric transmission signal and is fed back into the system through a cable. Thereby detecting the water level state of the sump. (the oil tank similar to the automobile detects whether gasoline exists or not, how much gasoline remains and the like) the system can set a sewage draining point in advance, when the float switch detects that the sewage is full, a feedback signal is given to the system, the system enables the AGV to walk to the sewage draining point according to a map according to feedback, then the electric sewage draining mechanism can put down a sewage draining pipe, sewage draining starts, when the sewage is drained, the float switch goes up and down according to the water level, the signal is fed back to the system, the system starts the sewage tank cleaning mechanism, a water pump in the cleaning mechanism pumps and sprays clean water through a spray head fixed in the sewage tank in advance, the inner wall of the sewage tank is sprayed with the clean water, and the whole inner wall of the sewage tank is cleaned.

When the AGV cleaning cart was supplied water, touch protruding collision the touch tap switch that preset was good on the AGV cleaning cart, tap can open, through epitaxial water pipe, carries water tank water receiving mouth position to the clear water, and when the water tank water is full of the back, float switch can feedback signal give the system, and system drive dolly gos forward, and the touch is protruding to leave touch tap switch, and tap can self-closing. The AGV system is a highly integrated control system (similar to a computer host), an external receiving device (G4, ultrasonic waves, switch buttons and other combinations) and a touch screen (capable of inputting voice alarms and the like) operating system with different interfaces and input buttons

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept herein, and it is intended to cover all such modifications and variations as fall within the scope of the invention.

Claims

1. The automatic navigation unmanned ground washing and drying machine is characterized by comprising a chassis, power wheels arranged on two sides of the chassis respectively, a first motor arranged on a power wheel shaft core, universal wheels arranged on the chassis behind the power wheels, a battery connected with the first motor arranged on the chassis, a circuit board arranged on the battery, an automatic sprinkling and cleaning device arranged on the front part of the chassis, an automatic sewage and dust recovery device arranged on the rear part of the chassis, an automatic sewage and dust recovery device arranged on the automatic sewage and dust recovery device, and ultrasonic probes respectively arranged on two sides of the front end of the automatic sprinkling and cleaning device and the rear end of the automatic sewage and dust recovery device and used for sensing surrounding obstacles, the front end of the automatic sprinkling cleaning device is provided with a laser scanner for sensing surrounding obstacles and a control screen arranged on the automatic sewage dust recovery device;

the automatic sewage and dust recovery device, the automatic sewage draining device, the ultrasonic probe and the laser scanner, and the control screen are respectively connected with the circuit board.

2. The self-guided, unmanned floor scrubber of claim 1, wherein the self-propelled, self-propelled floor scrubber comprises a first bracket on the chassis, a second motor on the first bracket, a middle disk brush under the first bracket connected to the second motor, an outer ring brush on the outer periphery of the middle disk brush connected to the first bracket, a clean water tank on the chassis on the side of the second motor, a first arc-shaped housing around the outside of the clean water tank, a clean water inlet on the top of the clean water tank extending out of the first arc-shaped housing, a clean water outlet elbow on the bottom of the clean water tank communicating with the clean water tank and extending above the middle disk brush, and a second arc-shaped housing under the first arc-shaped housing and surrounding the second motor; the first arc-shaped shell and the second arc-shaped shell are spliced into a whole;

an electronic valve is arranged on the purified water outlet bent pipe;

the electronic valve and the second motor are respectively connected with the circuit board.

3. The self-navigating drone of claim 2, wherein a protective housing is positioned beneath the first bracket to cover the middle disk brush and the outer ring brush.

4. The autonomous navigation driverless scrubber dryer of claim 1, the automatic sewage and dust recovery device comprises a second bracket, an arc-shaped bracket, a first elastic scraper, a second elastic scraper, an arc-shaped groove, a sewage suction hole, a sewage collecting tank, a sewage cleaning port, a water suction pipe and a third motor, wherein the second bracket is arranged on a chassis and extends towards the rear end, the arc-shaped bracket is arranged at the end part of the second bracket, the first elastic scraper is arranged on the arc-shaped inner side of the arc-shaped bracket, the second elastic scraper is arranged on the arc-shaped outer side of the arc-shaped bracket, the arc-shaped groove for collecting sewage and dust is formed between the first elastic scraper and the second elastic scraper together with the arc-shaped bracket, the sewage suction hole is formed in the arc-shaped bracket and is communicated with the arc-shaped groove, the sewage collecting tank is arranged above the sewage suction hole, the sewage cleaning port is formed in the sewage collecting tank, the water suction pipe is arranged at the bottom;

a third arc-shaped shell which is spliced with the first arc-shaped shell and the second arc-shaped shell into a whole is arranged at the position of the sewage collecting tank;

and the third motor is connected with the circuit board.

5. The autonomous navigation drone of scrubber dryer of claim 4, wherein a seal cap is provided on the third arcuate housing in the position to clean the waste opening.

6. The automatic navigation unmanned type washing and drying machine as claimed in claim 4, wherein the automatic sewage draining device comprises a fourth motor arranged on the second arc-shaped shell, an L-shaped supporting rod arranged on a shaft core of the fourth motor, an L-shaped sewage draining pipe arranged on the outer side surface of the L-shaped supporting rod, a sewage draining outlet arranged at the bottom of a sewage collecting tank on one side of the L-shaped sewage draining pipe, and a connecting hose arranged on the sewage draining outlet and having one end connected with the sewage draining outlet and the other end connected with the L-shaped sewage draining pipe;

and the fourth motor is connected with the circuit board.