CN113576325B - Sweeping and mopping robot cooperative workstation - Google Patents
Sweeping and mopping robot cooperative workstation Download PDFInfo
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- CN113576325B CN113576325B CN202010367337.1A CN202010367337A CN113576325B CN 113576325 B CN113576325 B CN 113576325B CN 202010367337 A CN202010367337 A CN 202010367337A CN 113576325 B CN113576325 B CN 113576325B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 213
- 239000010865 sewage Substances 0.000 claims abstract description 121
- 238000004140 cleaning Methods 0.000 claims abstract description 96
- 238000004064 recycling Methods 0.000 claims abstract description 40
- 239000004744 fabric Substances 0.000 claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 195
- 238000000034 method Methods 0.000 claims description 86
- 238000011084 recovery Methods 0.000 claims description 50
- 230000001960 triggered effect Effects 0.000 claims description 41
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- 239000008213 purified water Substances 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 18
- 238000005507 spraying Methods 0.000 claims description 16
- 241001417527 Pempheridae Species 0.000 claims description 15
- 238000009736 wetting Methods 0.000 claims description 10
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- 238000001914 filtration Methods 0.000 claims description 7
- 238000000746 purification Methods 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 2
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- 230000000694 effects Effects 0.000 abstract description 6
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- 239000002351 wastewater Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 239000013505 freshwater Substances 0.000 description 5
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Classifications
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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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
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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
- A47L11/40—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
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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
- A47L11/40—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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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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
- 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
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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
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a sweeping and mopping robot cooperative workstation, which comprises: the sweeping machine workbench is used for charging the sweeping robot and recycling garbage; the floor mopping machine workbench is used for charging the floor mopping robot, cleaning a mop cloth and recycling sewage; the cooperative control center is used for cooperatively controlling the sweeping task of the sweeping robot and the mopping task of the mopping robot; based on the sweeping and mopping robot cooperative workstation provided by the invention, the sweeping robot and the mopping robot can be charged simultaneously and controlled to work cooperatively, so that the technical effects of reducing the charging occupied area and improving the cleaning capability are realized.
Description
Technical Field
The invention belongs to the technical field of household cleaning, and particularly relates to a sweeping and mopping robot cooperative workstation.
Background
The floor sweeping robot and the floor mopping robot can realize home automatic cleaning, and reduce the housework burden of a user, but the following problems also exist: 1. the two are respectively provided with a charging seat, so that the occupied area of indoor charging is large; 2. the sweeping robot needs to be started first, and the mopping robot is started to mop the floor after the sweeping robot finishes sweeping, so that the cleaning time is too long; 3. if the two are started simultaneously, the two collide with each other, or the mopping robot walks at the front end of the sweeping robot, so that dust is wetted without being swept and cannot be swept.
In order to solve the problems, some sweeping robots are provided with a floor mopping function, but if the sweeping and mopping are used simultaneously, water and dust are mixed together to form slurry, so that the ground is more dirty when being swept.
Disclosure of Invention
The invention aims to provide a sweeping and mopping robot cooperative workstation, which can charge a sweeping robot and a mopping robot at the same time and control the sweeping robot and the mopping robot to cooperatively work, so that the technical effects of reducing the charging occupied area and improving the cleaning capability are achieved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a sweeping and mopping robot cooperative workstation is provided, comprising: the sweeping machine workbench is used for charging the sweeping robot; the floor mopping machine workbench is used for charging the floor mopping robot and cleaning a mop cloth; and the cooperative control center is used for cooperatively controlling the cleaning task of the sweeping robot and the mopping task of the mopping robot.
Further, the workstation further comprises: and the workbench lifting device is used for controlling the lifting or the falling of the workbench of the sweeper.
Further, the workstation of machine of sweeping the floor is equipped with: the first limiting device is used for limiting the ascending of the worktable of the sweeper; the floor mopping machine workbench is provided with: and the second limiting device is used for limiting the descending of the worktable of the sweeping machine.
Further, be provided with on the mopping machine workstation: a rotation device for performing humidity control on the mop of the mopping robot by rotation; the surface of the utility model is provided with a plurality of bulges.
Further, be provided with on the floor mopping machine workstation: the vibration device is used for controlling the humidity of the mop of the mopping robot through vibration; the surface of the base is provided with a plurality of bulges.
Further, the workstation further comprises: the garbage recycling device is connected with the worktable of the sweeping machine and used for recycling the garbage of the sweeping robot; the water purifying and cleaning device is connected with the floor mopping machine workbench and is used for wetting the mop cloth of the floor mopping robot; and the sewage recovery device is connected with the floor mopping machine workbench and used for recovering the sewage of the floor mopping robot.
Further, the wastewater recovery device comprises: a sewage storage tank; a sewage recovery pump; the sewage recovery pipe is connected with the sewage storage box and is connected with the floor mopping machine workbench through the sewage recovery pump; and the filtering device is arranged in the sewage recovery pipe or at the outlet of the sewage recovery pipe and is used for filtering sewage.
Further, the water purification and cleaning device comprises: a purified water storage tank; a water purifying pump; the nozzle is arranged on the floor mopping machine workbench; one end of the purified water pipe is connected with the purified water storage tank; the other end is connected to the nozzle through the purified water pump; the sewage recovery device further comprises: then the water pump is utilized; and the water outlet is arranged on the reusable water level of the wall of the sewage storage box and is connected to the nozzle through a water pipe by the reusable water pump.
Further, the sewage recovery device further comprises: a second water level detection device disposed at a position in the sewage storage tank which is as high as the reusable water level; and the cooperative control center is used for controlling the reuse water pump to be started when the second water level detection device is triggered in the mop cleaning process of the mopping robot, and pumping the reusable sewage which is filtered and precipitated in the sewage storage box to the nozzle for spraying so as to realize spraying on the mopping of the mopping robot.
Further, the cooperative control center includes: the first wireless communication module is used for communicating with the sweeping robot and the mopping robot; and the second wireless communication module is used for accessing the Internet.
Compared with the prior art, the invention has the advantages and positive effects that: in the sweeping and mopping robot cooperative workstation, the worktable of the sweeping machine is responsible for charging the sweeping robot and recovering garbage, and the worktable of the mopping machine is responsible for charging the mopping robot, cleaning mop cloth and recovering sewage; the cleaning task of the floor sweeping robot and the floor mopping task of the floor mopping robot are cooperatively controlled through the cooperative control center, so that the task conflict between the floor sweeping robot and the floor mopping robot can be avoided, the charging occupied area is reduced, and the technical effect of cleaning capacity is improved.
Furthermore, the lifting of the worktable of the floor sweeping machine is controlled through the worktable lifting device, so that the area occupied by the floor sweeping robot and the floor mopping robot in the charging process can be reduced by half.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is an architectural diagram of one embodiment of a sweeping robot collaborative workstation in accordance with the present invention;
FIG. 2 is a diagram of an embodiment of a garbage recycling device in a collaborative workstation of a sweeping and mopping robot according to the present invention;
FIG. 3 is a diagram of an embodiment of a clean water cleaning device in a sweeping and mopping robot cooperative workstation according to the present invention;
FIG. 4 is a diagram of an embodiment of a sewage recycling device in a coordinated working station of a sweeping and mopping robot according to the present invention;
FIG. 5 is a diagram of another embodiment of a sewage recycling device in a coordinated working station of a sweeping and mopping robot according to the present invention;
FIG. 6 is a flowchart illustrating an exemplary embodiment of a method for controlling a coordinated construction of a sweeping and mopping robot according to the present invention;
FIG. 7A is a flowchart illustrating a cooperative controlling method for a sweeping and mopping robot according to a first embodiment of the present invention;
FIG. 7B is a flowchart illustrating a cooperative controlling method for a mopping robot according to a second embodiment of the present invention;
FIG. 8 is a flow chart of one embodiment of a method for controlling humidity of a mopping robot according to the present invention;
FIG. 9 is a flowchart of one embodiment of a method for controlling the cleaning of a mopping robot in accordance with the present invention;
FIG. 10 is a flow chart illustrating an embodiment of a mop cleaning method of a mopping robot according to the present invention;
fig. 11 is a flowchart of an embodiment of a garbage recycling method for a sweeping robot according to the present invention;
FIG. 12 is a block diagram of one embodiment of a floor mopping machine platform according to the present invention;
fig. 13 is a structural view of a second embodiment of the floor mopping machine workbench according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, the sweeping robot cooperative workstation provided by the present invention comprises: the floor sweeping machine comprises a floor sweeping machine workbench 1, a floor mopping machine workbench 2, a workbench lifting device 3, a garbage recovery device 4, a water purifying and cleaning device 5, a sewage recovery device 6, a cooperative control center 7 and a power supply system 8.
The floor sweeping machine workbench 1 is used for realizing the charging and garbage recycling of the floor sweeping robot; the floor mopping machine workbench 2 is used for realizing the charging of the floor mopping robot, the cleaning of mop cloth and the recovery of sewage; the floor sweeping machine workbench 1 is arranged at the upper part of the workbench lifting device 3, and the floor mopping machine workbench 2 is arranged at the lower part of the workbench lifting device 3; the workbench lifting device 3 is used for controlling the lifting or descending of the workbench 1 of the sweeper.
In some embodiments of the present invention, the sweeping machine workbench 1 has two first metal charging pole pieces at the front end, so as to realize a function of charging the sweeping robot.
A dust outlet is reserved in the position of the dust box of the sweeping robot, the dust outlet corresponds to a dust inlet on a worktable 1 of the sweeping machine, the outside of the dust outlet of the dust box of the sweeping robot is shielded by a silica gel pad, and one end of the silica gel pad is fixed with the dust box. When the sweeping robot leaves the workstation to clean, the fan inside the sweeping robot works to suck the silica gel pad outside the dust outlet, so that the sealing effect is achieved, and meanwhile, the garbage on the ground is sucked to the dust box.
When the sweeping robot returns to the workstation, the fan of the garbage recycling device 4 works, the silica gel pad outside the dust outlet of the dust box of the sweeping robot is sucked away, the garbage in the dust box is sucked out of the dust box, and the garbage is sucked into the garbage bag in the garbage storage area through the garbage recycling channel, so that the garbage recycling function is realized.
In some embodiments of the present invention, the floor mopping machine workbench 2 has two second metal charging pole pieces at the front end, so as to realize the function of charging the floor mopping robot.
An infrared signal transmitting device is arranged on the floor mopping machine workbench 2, so that the recharging alignment function of the floor mopping robot and the sweeping robot is realized.
The front end of the chassis of the mopping robot is provided with two rotatable discs, the discs can be adhered with mops, the inside of the mopping robot is provided with disc rotating power by a motor, both ends of a motor rotating shaft are provided with threads, the two discs are driven by gears to synchronously rotate, and the mopping robot realizes the cleaning effect on the ground by rotating the mops. Or the mopping robot has a mopping plate capable of moving back and forth at the front end and the rear end of the chassis, the mopping plate can be adhered with a mop cloth, a motor provides power for the mopping plate to move back and forth inside the mopping robot, a conversion device is fixed at the two ends of a motor shaft, so that the motor shaft is converted to other positions from the center, and the mopping plate can be driven to reciprocate back and forth when the motor rotates by combining a mechanical support, so that the mopping plate can be cleaned by reciprocating back and forth.
In some embodiments of the invention, the workbench lifting device 3 drives the screw to rotate through the servo motor to realize the lifting or descending of the workbench 1 of the sweeper; or the motor on the floor sweeping machine workbench 1 drives the gear to rotate, so that the floor sweeping machine workbench 1 can ascend or descend on the serrated belt and the like.
The floor sweeping machine workbench 1 and the floor mopping machine workbench 2 are respectively provided with a limiting device, such as a proximity sensor, when the floor sweeping machine workbench 1 rises to the top end, the first limiting device on the floor sweeping machine workbench 1 is triggered, and the workbench lifting device 3 stops working, so that the rising limitation is realized. When the floor sweeping machine workbench 1 descends to the bottom end, the second limiting device on the floor mopping machine workbench 2 is triggered, the workbench lifting device 3 stops working, and descending limiting is achieved.
When the mopping robot is positioned on the mopping machine workbench 2 or other articles are on the mopping machine workbench 2, the limiting device on the mopping machine workbench 2 can be triggered to stop the workbench lifting device from working, so that the mopping robot is prevented from being extruded or other articles are prevented from being extruded.
The electric telescopic rod is arranged in the workbench lifting device 3, when the floor sweeping machine workbench 1 is lifted to the top end, the electric telescopic rod extends out to support the floor sweeping machine workbench 1, and the situation that the floor sweeping machine workbench 1 falls down due to power failure or damage to the workbench lifting device 3 is avoided.
In some embodiments of the present invention, the garbage collection apparatus 4, as shown in fig. 2, includes a garbage collection channel 41, a garbage storage area 42, a garbage bag 43 disposed in the garbage storage area 42, and a blower 44; the worktable 1 of the sweeping machine is provided with a dust inlet 11, the inlet end of the garbage recycling channel 41 is connected with a dust outlet of a dust box of the sweeping robot through the dust inlet 11, and the outlet at the other end is connected with a garbage storage area 42.
The bag 43 is mounted in the waste storage area 42 by a mounting plate 45. The mounting plate 45 is provided with a dust opening 46. The dust opening 46 is connected to the outlet end of the waste recovery channel 41 by snap-fit, screw or other abutment. The main body of the garbage bag 43 is made of a paper material or a nonwoven fabric material which is air-permeable and dust-proof, and is preferably made into a disposable garbage bag.
The fan 44 is arranged at an air outlet 47 of the garbage storage area 42; after the sweeping robot returns to the sweeping machine workbench 1 after sweeping, the fan 44 is started to suck the garbage out of the dust outlet of the sweeping robot from the dust box of the sweeping robot, the garbage is sucked into the garbage bag 43 through the dust inlet 11 of the sweeping machine workbench 1 and the garbage recycling channel 41, and the air is blown out from the air outlet 47 through the garbage bag 43.
The garbage bag 43 is provided with an in-place detection device 48, such as a microswitch, which is triggered when the fixing plate 45 is installed in place to indicate that the garbage bag 43 is installed in place, and when the sweeping robot finishes sweeping and returns to the floor sweeping machine workbench 1, whether the microswitch is triggered is firstly detected, and after the microswitch is triggered to ensure that the garbage bag 43 is installed in place, the fan 44 is started.
Aiming at the garbage recycling device 4, the invention provides a garbage recycling method of a sweeping robot, which comprises the following steps as shown in fig. 11:
step S111: recording the cleaning time t of the current cleaning task of the sweeping robot Sweeping machine . And the number of the first and second groups,
step S112: calculating the time interval T between the last cleaning task and the current cleaning task of the sweeping robot Sweeping machine 。
Obtaining last time cleaning of sweeping robotThe time of sweeping the task and the time of the current sweeping task are calculated, and the time interval T between the two is calculated Sweeping machine 。
Step S113: time-based 1 ＝a 1 ×T Sweeping machine +a 2 ×t Sweeping machine And calculating the working time of the fan of the garbage recycling device.
In the embodiment of the present invention, the working time of the fan 44 of the garbage recycling device 4 is limited by the time interval between two cleaning tasks and the time of the current cleaning task, a 1 And a 2 The weight selection of the two times can be regarded as being completed through user setting, and the user can select the weight with the time interval heavier than the two cleaning tasks or the weight with the time interval heavier for each cleaning task according to the actual indoor situation, for example, when the user frequently cleans at home, the weight of the time interval of the current cleaning task can be set to be larger, and if the cleaning frequency of the user at home is lower, the weight of the time interval of the two cleaning tasks can be set to be larger.
Step S114: after the cleaning task is finished, starting the working time of the fan of the garbage recycling device 1 Time.
According to the embodiment of the invention, the time interval T between the current cleaning task and the last cleaning task of the sweeping robot is used Sweeping machine And the time t required for the current cleaning task Sweeping machine The running time of a fan of the garbage recycling device is dynamically adjusted, so that the garbage recycling time can be reduced when the sweeping is frequent or the garbage is small, and the electric energy is saved; the garbage recycling time is prolonged when the sweeping time interval is long or the sweeping time is long, and the recycling capability is enhanced.
In some embodiments of the present invention, as shown in fig. 3, the fresh-water washing device 5 includes a fresh-water storage tank 51, a fresh-water pump 52, a fresh-water pipe 53, an air inlet hole 54, a nozzle 55, a water level detection device 56, and a fresh-water storage tank presence detection device 57.
The purified water storage box 51 is placed in the workstation, an air inlet and a water outlet are reserved, and a cover at the top end of the purified water storage box 51 can be opened, so that a user can add water conveniently; the water outlet of the purified water storage tank 51 corresponds to the water inlet of the purified water pipe 53; the nozzle 55 is installed on the floor-mopping machine table 2, and the clean water pipe 53 is connected to the nozzle 55 by the clean water pump 52.
Two third metal electrode plates are arranged outside the purified water storage box 51 and correspond to the two metal contacts of the workstation to ensure the power supply of the water level detection device 56. The water level detecting device 56 is located at the bottom end of the interior of the purified water storage box 51, and when the water level reaches the water storage position at the bottom of the purified water storage box, the water level detecting device 56 is triggered to perform the water level detecting function.
The clean water storage tank in-place detection device 57 is constituted by a micro switch, and when the clean water storage tank 51 is mounted in place, the micro switch is triggered to indicate that the clean water storage tank 5 is mounted.
When the mopping robot returns to the work station, the cooperative work center 7 controls the water pump 52 to start working when detecting that the clean water storage box 51 is installed based on the state of the clean water storage box on-site detection device 57, so that the clean water in the clean water storage box 51 is sucked to the nozzle 55 through the water pipe 53, and then the water is uniformly sprayed to the mopping cloth.
In some embodiments of the present invention, as shown in fig. 12, a plurality of protrusions 21 are formed on the surface of the floor-mopping machine platform 2 corresponding to the position of the mop cloth of the floor-mopping robot, and after the floor-mopping robot finishes sprinkling water on the floor-mopping robot, the floor-mopping robot controls the mop cloth to rotate or vibrate, and the mop cloth rubs against the surface of the protrusions on the floor-mopping machine platform 2, so that dust and sewage on the mop cloth flow down.
Or, in some embodiments of the present invention, as shown in fig. 13, the floor mopping machine workbench 2 is provided with a rotating device 22 corresponding to the position of the mop cloth of the floor mopping robot, the rotating device comprises two motors, each motor shaft is provided with a rotating disc, and the surface of each rotating disc is provided with a plurality of protrusions 21; when the mop is cleaned, the water pump 52 of the water cleaning device 5 starts to work, the water in the water cleaning storage box 51 is sucked to the nozzle 55 through the water pipe 53, then the water is uniformly sprayed to the mop, the motor of the floor mopping machine platform 2 is controlled by the cooperative control center 7 to start, the two rotating discs are driven to rotate, the raised surfaces on the rotating discs rub with the mop, and dust and sewage on the mop flow down.
Or, in some embodiments of the present invention, a vibration device is disposed on the floor mopping machine workbench 2 corresponding to the mop cloth of the floor mopping robot, and a plurality of protrusions are disposed on the surface of the vibration device, after the water is sprayed on the mop cloth, the vibration device of the floor mopping machine workbench 2 is controlled by the cooperative control center 7 to vibrate, so that the dust and the sewage on the mop cloth flow down.
In some embodiments of the present invention, a water inlet is added to the top of the purified water storage 51, so that the purified water storage can be directly connected to a household faucet through a water pipe, thereby achieving the function of automatic water feeding.
In some embodiments of the present invention, the device for detecting the clean water storage box 51 in place comprises a hall element and a magnet, the magnet is installed in the clean water storage box, the hall element is installed at a position corresponding to the magnet in the workstation, and when the clean water storage box 51 is installed in place, the hall element is triggered to indicate that the clean water storage box is installed.
In some embodiments of the present invention, the wastewater recovery unit 6, as shown in FIG. 4, includes a wastewater storage tank 61, a wastewater recovery pump 66, a wastewater recovery pipe 62, an exhaust hole 63, a water level detection unit 64, and a wastewater storage tank in-place detection unit 65.
The sewage storing box 61 is placed in the workstation, and an exhaust hole and a water inlet are reserved, the top cover of the sewage storing box 61 can be opened, a user can pour out sewage conveniently, the water inlet of the sewage storing box 61 corresponds to the water outlet of the sewage recovery pipe 62, and the sewage recovery pipe 62 is connected to the floor mopping machine workbench 2 through the sewage recovery pump 66.
Two fourth metal electrode plates are arranged outside the sewage storage box 61 and correspond to the two metal contacts of the workstation, so that the power supply of the water level detection device 64 is ensured.
The water level detection device 64 is located at the top end of the interior of the sewage storage tank 61, and when the water level reaches the maximum water storage position of the sewage storage tank 61, the water level sensor 64 is triggered to perform the water level detection function. Or, when the water level reaches the maximum water storage position of the sewage storage tank 61, the buoyancy of the water pushes up the buoyancy ball of the water level detection device 64 to trigger the micro switch, so as to perform the water level detection function.
The sewage storage tank in-place detection device 65 is composed of a microswitch, and when the sewage storage tank 61 is installed in place, the microswitch can be triggered to indicate that the sewage storage tank is installed.
After the mop is cleaned, the sewage recovery pump 66 of the sewage recovery device 6 is started to work, the sewage on the worktable 2 of the mopping machine is sucked into the sewage storage box 61 through the sewage recovery pipe 62, the gas in the sewage storage box 61 is discharged from the exhaust hole 63, and the air pressure in the sewage storage box 61 is kept stable. When the water level detecting means 64 in the sewage storage tank 61 detects that the water has reached the maximum water level, the water level alarm program is triggered.
The sewage recovery device 6 can be added with a drain pipe interface to directly discharge the sewage in the sewage storage 61 to the sewer through the drain pipe.
In some embodiments of the present invention, as shown in fig. 5, a filtering device 67 and a second water level detecting device 68 are added to the wastewater recovering device 6, the filtering device 67 is installed at the front end or inside of the wastewater recovering pipe 62, and may be made of a filter core material such as sponge or ceramic, and the wastewater enters the filtering device 67 through the wastewater recovering pipe 62 and then enters the wastewater storage box 61.
A water outlet 69 is additionally arranged at a low position in the side edge of the sewage storage box 61 and is connected to a nozzle of the floor mopping machine workbench 2 through a water pipe 70 by a reuse water pump 66B, so that the sewage can be reused for cleaning mops after being filtered and precipitated, and the frequency of water adding and pouring of a user is reduced.
The water outlet 69 is arranged at the same height as the reusable water level; the reusable water level, indicates: the sewage lower than the reusable water level is not reusable, and the sewage higher than the reusable water level is the sewage which can be reused after precipitation.
The second water level detecting means 68 is located at the same height as the water outlet 69, and when the water level reaches the position of the water outlet 69 of the sewage storage tank 61, the second water level sensor 68 is triggered to indicate the presence of the reuse sewage.
The sewage storage box in-place detection device 65 comprises a Hall element and a magnet, wherein the magnet is arranged in the sewage storage box 61, the Hall element is arranged at the position of the workstation corresponding to the magnet, and when the sewage storage box is arranged in place, the Hall element can be triggered to indicate that the sewage storage box is arranged.
The cooperative control center 7 is responsible for charging and cooperative control of the floor sweeping robot and the floor mopping robot, garbage recycling, mop cleaning control and the like, and comprises a display module, a key input module, an operation processing module, a communication module and a control module.
The cooperative control center 7 can issue an instruction to the sweeping robot and the mopping robot through the first wireless communication modules such as the 2.4G wireless module, the Bluetooth module and the zigbee wireless module, and receive information such as the state, the sweeping data, the cleaning data and the map data returned by the sweeping robot and the mopping robot through the first wireless communication modules such as the 2.4G wireless module, the Bluetooth module and the zigbee wireless module; the information is transmitted to an operation processing module, and the operation processing module transmits part of state information to a display module after processing and converting the information and displays the state information on a display screen; after partial information is calculated and processed, the next step of instruction information is obtained, and then the next step of instruction information is transmitted to the sweeping robot or the mopping robot through the first wireless communication module such as the 2.4G wireless module, the Bluetooth module or the zigbee wireless module, so that the cooperative work is realized.
The user can transmit the control instruction to the operation processing module through the key input module, and then the control instruction is issued to the floor sweeping robot and the floor mopping robot through the first wireless communication module such as the 2.4G wireless module, the Bluetooth module or the zigbee wireless module.
The cooperative control center 7 can access the workstation to the internet through a Wi-Fi communication module, a 4G communication module or a 5G communication module and other second wireless communication modules, and a user can issue an instruction to the workstation through an intelligent terminal APP, so that the floor sweeping robot and the floor mopping robot are controlled; meanwhile, the workstation can transmit information such as states of the workstation, the sweeping robot, the mopping robot and map data to the background server and the intelligent terminal APP through second wireless communication modules such as the Wi-Fi communication module, the 4G communication module or the 5G communication module.
The key input module may be replaced with a touch screen of the display module.
The cooperative work station can increase WLAN interface, and the user can directly connect through network cable, so that the work station can be accessed into local area network.
The power supply system 8 is responsible for supplying power to each module of the whole cooperative workstation through internal circuits and the above-mentioned various external contact points, electrodes and the like.
Before a detailed description is made of a cooperative control method of a sweeping and mopping robot cooperative workstation, the following description is made of a relevant work process in the cooperative workstation in the embodiment of the present invention:
and (3) an alarm process a: and sending alarm information to a user in a mode of voice broadcasting fault content, displaying the fault content on a display screen and/or prompting the fault content through an APP pop-up window of the intelligent terminal.
B, descending process of a worktable of the sweeper: the electric telescopic rod of the workbench lifting device 3 is retracted, the motor starts to work to drive the floor sweeping machine workbench 1 to descend, when the second limiting device (the proximity sensor 2) on the floor sweeping machine workbench 2 is approached, the second limiting device on the floor sweeping machine workbench 2 is triggered, the motor of the workbench lifting device 3 stops, the floor sweeping machine workbench 1 stops descending, and the floor sweeping robot exits from the workstation.
C, ascending process of a floor sweeping machine workbench: the motor of the workbench lifting device 3 starts to work, the workbench 1 of the floor sweeping machine rises, when the first limiting device (the proximity sensor 1) of the workbench 1 of the floor sweeping machine is triggered, the motor of the workbench lifting device 3 stops, the workbench 1 of the floor sweeping machine stops rising, and meanwhile, the electric telescopic rod of the workbench lifting device 3 extends out to support the workbench 1 of the floor sweeping machine.
The mopping robot avoiding process I: the mopping robot exits the mopping machine workbench 2 and runs to a position where the floor sweeping robot is not obstructed to exit.
The outbound process e of the sweeper: judging whether a mopping machine or other objects exist on the floor mopping machine workbench 2 by judging whether a second limiting device (a proximity sensor 2) on the floor mopping machine workbench 2 is triggered; if the second limiting device on the floor mopping machine workbench 2 is triggered, whether the floor mopping robot is charged or not is judged, if the floor mopping robot is not charged, other objects on the floor mopping machine workbench 2 are considered to prevent the floor sweeping machine workbench 1 from descending, and an alarm process a is triggered.
And if the mopping robot is in the charging process, executing a mopping robot avoiding process d, and then starting a floor sweeping machine workbench descending process b and a floor sweeping machine workbench ascending process c.
The recharging process f of the sweeping robot: judging whether a mopping machine or other objects exist on the floor mopping machine workbench 2 by judging whether a second limiting device (a proximity sensor 2) on the floor mopping machine workbench 2 is triggered; if the second limiting device on the floor mopping machine workbench 2 is triggered, judging whether the floor mopping robot is charged, if the floor mopping robot is not charged, considering that other objects on the floor mopping machine workbench 2 prevent the floor sweeping machine workbench from descending, and triggering an alarm process a; if the mopping robot is in charging, the execution of the mopping robot is controlled to avoid a process d, then a descending process b of a worktable of a sweeping machine is executed, then the sweeping robot is aligned with an infrared signal transmitting device on a worktable 2 of the mopping machine through an infrared receiving sensor on a machine body, enters a workstation and starts charging, and after the sweeping robot is charged, an ascending process c of the worktable of the sweeping machine is executed.
And a floor mopping robot recharging process g: firstly, judging whether other objects exist on the floor mopping machine workbench 2 by judging whether a second limiting device (a proximity sensor 2) on the floor mopping machine workbench 2 is triggered; if the second limiting device on the floor mopping machine workbench 2 is triggered, it is considered that other objects on the floor mopping machine workbench 2 prevent the floor mopping robot from recharging, and an alarm process a is triggered; if the second limiting device on the floor mopping machine workbench 2 is not triggered, the floor mopping robot enters the workstation to start charging through the alignment of the infrared receiving sensor on the machine body and the infrared signal transmitting device on the floor mopping machine workbench 2.
And (4) avoiding the process of the mopping machine for two hours: and controlling the floor mopping robot to stand by on the spot.
Mop wetting process i: firstly, detecting whether the purified water storage box 51 is installed in place or not by the purified water storage box in-place detection sensor 57, if not, executing an alarm process a, and stopping working; if the clean water storage tank 51 is mounted in place, the clean water pump 52 of the clean water washing apparatus is operated to pump water from the clean water storage tank 51 to the floor-mopping machine table 2 through the water pipe 53, and then spray water uniformly onto the mop cloth through the spray nozzle 55.
If the water in the clean water storage tank 51 is exhausted during the spraying process, the water level sensor 56 in the clean water storage tank 51 is switched from the trigger state to the non-trigger state, at this time, the clean water pump 52 stops working, and an alarm process a is executed to remind a user that the water in the clean water storage tank is insufficient.
When the operating time of the clean water pump 52 reaches the humidifying time, the clean water pump 52 stops operating, and the nozzle 55 does not spray water any more.
Mop cleaning process j: the mopping robot controls the mop cloth to rotate or vibrate and rubs with the surface of the bulge on the worktable 2 of the mopping machine, so that dust and sewage flow on the mop cloth are left; or controlling the rotation device on the floor mopping machine workbench 2 to rotate, or controlling the vibration device on the floor mopping machine workbench 2 to vibrate, so that the dust and the sewage on the mop cloth flow down.
And (5) sewage recovery process k: it is detected whether the sewage storage tank 61 is mounted in place, and if not, an alarm process a is triggered, and if so, the sewage recovery pump 66 of the sewage recovery apparatus 6 starts to operate. If the water level detection means 64 of the sewage storage tank 61 is triggered, indicating that the water level of the sewage storage tank 61 has reached the maximum, the sewage recovery pump 66 of the sewage recovery apparatus 6 stops operating, and the alarm process a is triggered. If the water level detection means 64 of the sewage storage tank 61 has not been triggered, it is judged whether the operation time of the sewage recovery pump 66 of the sewage recovery device 6 has reached the sewage recovery time, and if so, the operation of the sewage recovery pump 66 is stopped to complete the sewage recovery operation.
And (3) garbage recycling process l: firstly, detecting whether the garbage bag 43 is installed in place by an in-place detection device 48 of the garbage recycling device 4, and starting an alarm process a if the garbage bag 43 is not installed in place; if the garbage recycling device is installed in place, the fan 44 of the garbage recycling device 4 is started to control the fan to meet the working time of the fan 1 And the garbage can be recycled.
As shown in fig. 6, the method for building a map provided by the above-mentioned coordinated workstation of the sweeping and mopping robot of the present invention is implemented by the coordinated control center 7 of the coordinated workstation, and includes the following steps:
step S61: and controlling the sweeping robot to go out of the station.
After the floor sweeping robot cooperative workstation is started for the first time or a map building instruction is received, the cooperative control center 7 firstly controls the floor sweeping robot to execute a floor sweeping robot outbound process e.
Step S62: and starting a scanning device of the sweeping robot to build a picture.
After the sweeping robot finishes leaving the station, the sweeping robot firstly runs to a random position, and then starts a scanning device to scan, for example, a laser radar is provided with a transmitting end and a receiving end, and the distance between an obstacle and the radar can be determined by calculating the wind distance of light according to the time difference between the transmitting end and the receiving end; and when the image created by the scanning of the radar is not a completely closed map, the sweeping robot is controlled to operate to other positions where the obstacle is not scanned and continue to create the image until the obstacle is completely closed, and then the scanning is finished.
The scanning and map building process here only needs to adopt the existing map scanning mode, and the embodiment of the invention is not particularly limited.
Step S63: and after the map building is completed, the sweeping robot sends the map building data to the cooperative workstation.
When a complete map is established through scanning of the laser radar, the sweeping robot uploads information such as map data to the cooperative control center 7 of the cooperative workstation through the 2.4G wireless communication module, the Bluetooth module or the zigbee wireless module.
Step S64: and controlling the sweeping robot to return to the station.
And executing a recharging process f of the sweeping robot.
And after the floor sweeping robot finishes the recharging process f, executing a recharging process g of the floor mopping robot.
Step S65: and planning a cleaning route and a mopping route based on the mapping data.
After receiving the map data sent back by the sweeping robot, the cooperative control center 7 plans the sweeping route of the sweeping robot and the mopping route of the mopping robot. Specific planning method the embodiments of the present invention are not specifically limited.
After the cooperative control center 7 plans the cleaning route and the mopping route, the cooperative work control method of the sweeping robot provided by the invention is executed, so that the cooperative work of the sweeping robot and the mopping robot is realized.
Specifically, as shown in fig. 7A, the method includes the following steps:
step S70: and after receiving the task instruction, controlling the sweeping robot to go out of the station.
After receiving a task instruction sent by a user through an APP, a remote controller or other control terminals, the workstation firstly executes a subprogram of the floor sweeping robot to exit.
Step S71: and controlling the sweeping robot to execute a sweeping task according to the planned sweeping route.
After the sweeping robot leaves the station, the cooperative control center 7 controls the sweeping robot to start to execute a sweeping task according to the planned sweeping route.
The task instruction is a combined instruction comprising a cleaning task and a mopping task; based on the sweeping and mopping robot cooperative workstation provided by the invention, a user can also independently execute a cleaning task or a mopping task according to actual requirements, which will be explained later.
Step S72: and judging whether the area of the cleaned area of the sweeping robot reaches a set threshold value or not.
In the process of executing cleaning, the sweeping robot continuously feeds back cleaning data to the cooperative work center 7, the cooperative work center 7 judges the area of a cleaning completion area according to the returned cleaning data, if the area does not reach a set threshold value, the sweeping robot continues to execute cleaning according to a planned cleaning route, and the mopping robot executes a mopping robot avoiding process for two hours.
If the cleaned area does not meet the set threshold, cleaning is continuously carried out according to the planned cleaning route; if the cleaned area reaches the set threshold, step S73 is executed: controlling the water purifying and cleaning device to start, and wetting the mop of the mopping robot.
In this step, a mop wetting process i is performed.
In some embodiments of the invention, the process of wetting the mopping robot mop proposes a method of controlling the wetness of the mopping robot mop, as shown in fig. 8, comprising the steps of:
when the area of a cleaning area of the floor sweeping robot reaches a set threshold value, the cooperative work center 7 starts the water purifying and cleaning device 5 to spray water and wet the mop of the floor sweeping robot, counts the working time of the water purifying pump 52, and controls the water purifying pump to stop working after the wetting time is reached, so that the mop wetting process i is finished.
Step S81: and determining the humidity gear set by the user.
In the embodiment of the invention, a user can set the mop humidity of the mopping robot through the intelligent terminal APP, the remote controller or other control terminals according to the floor pollution degree, namely, set a humidity gear, and after the water purification and cleaning device 5 is started to perform a mop wetting process on mopping, the mopping is considered to be completely wetted, and then the cooperative work center 7 reads the humidity gear set by the user, and performs humidity control on the mopping according to the humidity gear: and rotating or vibrating the mop for dehumidification according to the humidity corresponding to the humidity gear, so that the humidity of the mop meets the requirement of a user.
Step S82: rotating the mop cloth or vibrating the mop cloth according to the set time of the humidity gear.
If the humidity gear set by the user is a middle gear, the mop on the mopping robot starts to rotate or vibrate for a time corresponding to the humidity of the middle gear; or, the rotating device or the vibrating device on the floor-mopping machine table 2 starts to rotate or vibrate for a time corresponding to the middle-grade humidity.
Similarly, a user can set any gear, and each humidity gear is correspondingly set with corresponding time; the lower the gear, the longer the rotation or vibration time, the lower the humidity of the mop cloth, the higher the gear, the shorter the rotation or vibration time, the higher the humidity of the mop cloth.
Step S83: when the set time of the humidity gear is reached, the mop is controlled to stop rotating or vibrate.
The mop achieves the humidity required by the humidity gear.
After the mop is wetted, the cooperative control center 7 continues the cooperative control step S74: and controlling the floor mopping robot to go out of the station.
After the mop of the mopping robot is wetted, the mopping robot is controlled to go out of the station.
Step S75: and controlling the mopping robot to execute the mopping task based on the planned mopping route.
After the floor mopping robot leaves the station, the cooperative control center 7 controls the floor mopping robot to execute a floor mopping task according to the planned floor mopping route, and receives floor mopping data returned by the floor mopping robot in the period.
In the embodiment of the invention, the floor mopping routes of the floor mopping robot are uniformly controlled by the cooperative control center 7, and the map building is completed by the sweeping robot, so that a floor mopping robot body does not need to be provided with a scanning module and the like related to the map building, the design cost of the floor mopping robot is reduced, the height of the floor mopping robot can be reduced, and the floor mopping robot can penetrate through more household bottoms to thoroughly clean indoor floors.
In some embodiments of the invention, during the period that the mopping robot goes out of the station to perform the mopping task, the cooperative control center further performs the following steps based on the cleaning data and the mopping data returned by the mopping robot, as shown in fig. 7B, so as to further avoid work conflict between the two, and improve the cleaning effect.
Step S76: and judging whether the floor sweeping robot and the floor mopping robot have task conflicts or not.
In the embodiment of the invention, the task conflict is judged according to the following two ways:
1. judging whether the floor sweeping robot and the floor mopping robot collide or not: the cooperative control center 7 combines the floor sweeping data and the floor mopping data to judge whether a route to be swept by the floor sweeping robot and a route to be cleaned by the floor mopping robot are crossed or not after the planned routes are set, namely whether the planned routes are collided or not after the set time, and if the planned routes are collided, the routes are collided.
2. Judging whether the area to be cleaned by the mopping robot is swept by the sweeping robot: the cooperative control center 7 combines the sweeping data and the mopping data to judge whether the area to be cleaned by the mopping robot is already swept by the sweeping robot or not, and if not, a conflict exists.
Step S77: and when the conflict exists, controlling the floor mopping robot to stop until the conflict is relieved and then starting.
If the collision possibility exists between the floor mopping robot and the floor cleaning robot, the floor mopping robot is controlled to execute a floor mopping robot avoiding process for two hours, and after the floor sweeping robot cleans the intersection route, the floor mopping robot is started to continue to clean according to the planned route
And if the area to be cleaned by the floor mopping robot is not cleaned, controlling the floor mopping robot to execute a floor mopping robot avoiding process for two hours, and starting the floor mopping robot to clean according to the planned path after the floor mopping robot cleans the area.
And if the conflict does not exist, the sweeping robot executes the sweeping task according to the sweeping route, and the mopping robot executes the mopping task according to the mopping route until the sweeping robot and the mopping robot complete the tasks.
In the cleaning process of the mopping robot, the invention provides a mopping cloth cleaning method of the mopping robot, which realizes the control of the cleaning cycle of the mopping robot by detecting the cleaning time of the mopping robot through a cooperative control center 7, and concretely, as shown in fig. 9, the method comprises the following steps:
step S91: and calculating the time interval between the last floor mopping task and the current floor mopping task.
During the cleaning period of the mopping robot, the cooperative workstation acquires the time record of the last mopping task, and calculates the time interval period T1 between the current working time and the current working time.
Step S92: calculating the time for cleaning mop by n5- (T1 x coefficient 3) 2 。
By time 2 ＝n 5 -a 3 ×T 1 Calculating the cleaning time of the mop, and reaching the time at the current cleaning time 2 When the mopping reaches the time, step S93 2 And controlling the floor mopping robot to return to the station during time.
And executing a floor mopping robot recharging process g.
Wherein n is 5 And a 3 For the experience setting value, if the current floor mopping task is away from the time interval T of the last floor mopping task 1 When the time is longer, the dust on the floor is more, which indicates that the user does not clean the floor for a long time, and the time is longer 2 Relatively short, the mops needing cleaningSome in time; if the time interval T1 between the current mopping task and the last mopping task is shorter, which indicates that the user cleans the ground more timely, the dust on the ground is less, and the time is shorter 2 I.e. longer, the mop cleaning can be late.
T 1 Limited range, when the user uses the floor-mopping task for the first time or the interval period T1 exceeds the set maximum value T max To set the maximum value T max And (4) performing calculation.
When the current outbound mopping time of the mopping robot reaches the mop cleaning time interval 2 And starting a floor mopping robot recharging process g.
Step S94: and after the mopping robot returns to the station, cleaning the mop.
Based on the sewage recycling device 6 and the clean water cleaning device 5 in the framework of the collaborative sweeping and mopping robot workstation, the step provides a mop cleaning method of the sweeping and mopping robot, as shown in fig. 10, which comprises the following steps:
step S101: and judging whether the sewage level in the sewage storage tank in the sewage recovery device meets the reuse water level or not.
Firstly, whether the sewage storage box 61 is installed in place or not is detected, if not, an alarm process a is triggered, and if the sewage storage box 61 is installed in place, a detection signal of a second water level detection device 68 in the sewage storage box 61 is acquired, and whether the sewage level in the sewage storage box 61 meets the reuse water level or not is judged. The reuse water level here is the lowest water level of the sewage that can be reused after the sewage is filtered and precipitated.
When the sewage level in the sewage storage tank satisfies the reuse water level, step S102: and starting the reuse water pump of the sewage recovery device.
The recycling water pump 66B is connected with the nozzle 55 of the floor mopping machine workbench 2 through a water pipe, and sewage which can be recycled after sedimentation is sprayed on the mop cloth through the nozzle 55 after the recycling water pump 66B is started.
Step S103: the spraying time is timed, and whether the water level in the sewage storage box meets the reuse water level or not is always detected during spraying.
During spraying, the detection data of the second water level detection device 68 is always acquired, and the spraying time is timed.
Step S104: when the spraying time reaches the set spraying time t 1 And when the recycling water level is always met, the recycling water pump of the sewage recovery device is controlled to stop working.
If the wastewater level in the wastewater storage tank of the wastewater recovery device does not meet the reuse water level, the clean water pump of the clean water cleaning device is directly started to set the spraying time.
Step S105: cleaning the mop sets the cleaning time.
Starting a mopping cleaning process j: setting cleaning time n by rotating or vibrating mop on mopping robot 1 Or starting a rotating device or a vibrating device on the floor mopping machine workbench 2 to work for setting the cleaning time n 1 The sewage and the dust are squeezed down the mop.
Step S106: when the spraying time does not reach the set spraying time t 1 And when the recycling water level is not met, controlling the recycling water pump of the sewage recovery device to stop working, and starting the water purifying pump of the water purifying and cleaning device.
The reuse water pump 66B of the sewage recovery apparatus 6 has an operating time t 2 When t is 2 ＜t 1 When the water level in the sewage storage tank 61 is judged not to satisfy the reuse water level based on the detection data of the second water detection device 68, the reuse water pump 66B is controlled to stop operating, that is, when the water level in the sewage storage tank 61 does not satisfy the reuse water level, the operating time of the reuse water pump 66B has not reached the set washing time t 1 In time, the mop is continuously wetted by using the purified water.
After the clean water storage tank 51 is mounted in place as judged by the detection signal of the in-place sensor 57 of the clean water cleaning device 5, the clean water pump 52 connected to the clean water storage tank 51 is started to draw clean water from the clean water storage tank 51 and clean the mop continuously. If the purified water storage tank 51 is not installed in place, the alarm process a is started.
Step S107: and after a water purifying pump of the water purifying and cleaning device works until the set spraying time is reached, controlling the water purifying pump to stop working.
When the water purifying pump 52 of the water purifying and cleaning device 5 works to meet t 1 -t 2 After the time, i.e. the total time reaches the set spraying time, the mop is wetted and the water purifying pump 52 is controlled to stop working.
After step S107 is completed, the process goes to step S105: the cleaning time is set for cleaning the mop, and sewage and dust are squeezed down from the mop.
And (3) executing the mop cleaning process j to set the cleaning time, and starting the alarm process a to send out a water shortage alarm if the water level sensor 56 of the purified water storage box 51 stops triggering.
After the mopping robot finishes mop cleaning, the cooperative workstation starts a sewage recovery process k.
The mop cleaning mode provided by the invention utilizes the filtered and precipitated sewage for secondary utilization, so that water resources can be saved, and the frequency of adding and pouring water for users is reduced.
And after the sewage recovery work is finished, if the floor mopping task is not finished, controlling the floor mopping robot to continuously leave the station and continuously perform cleaning according to the planned path until the current task is finished and then returning to the cooperative workstation.
And when the cooperative control center 7 finishes the floor mopping task, starting a floor mopping robot recharging process g. And when the mopping robot successfully refills, executing a mop wetting process, a mop cleaning process and a sewage recycling process.
Meanwhile, after the sweeping robot finishes a sweeping task, the cooperative control center 7 starts a sweeping robot recharging process f, and after the sweeping robot recharges in place, the working time of the fan is determined based on the sweeping robot garbage recycling method 1 And starting a garbage recycling process l.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. Sweep and drag robot collaborative workstation, its characterized in that includes:
the sweeping machine workbench is used for charging the sweeping robot;
the mopping machine workbench is used for charging the mopping robot and cleaning a mop cloth;
the cooperative control center is used for cooperatively controlling the sweeping task of the sweeping robot and the mopping task of the mopping robot;
the worktable lifting device is used for controlling the lifting or descending of the worktable of the sweeper; an electric telescopic rod is arranged in the workbench lifting device, and when the workbench of the sweeping machine is lifted to the top end, the electric telescopic rod extends out to support the workbench of the sweeping machine;
the floor sweeping machine workbench is provided with: the first limiting device is used for limiting the ascending of the worktable of the sweeper;
the floor mopping machine workbench is provided with: the second limiting device is used for limiting the descending of the worktable of the sweeper;
the sweeping and mopping robot cooperative workstation executes the following processes:
the descending process of the worktable of the sweeper: when the electric telescopic rod of the workbench lifting device is retracted, the motor starts to work to drive the floor sweeping machine workbench to descend, when the electric telescopic rod approaches a second limiting device on the floor sweeping machine workbench, the second limiting device on the floor sweeping machine workbench is triggered, the motor of the workbench lifting device stops, the floor sweeping machine workbench stops descending, and the floor sweeping robot exits from the workbench;
the ascending process of the worktable of the sweeper: when a first limiting device of the worktable of the sweeper is triggered, the motor of the worktable lifting device stops, the worktable of the sweeper stops lifting, and meanwhile, an electric telescopic rod of the worktable lifting device extends out to support the worktable of the sweeper;
the mopping robot avoidance process I: the mopping robot exits from the workbench of the mopping machine and runs to a position where the floor sweeping robot is not obstructed to exit;
the process of the floor sweeper going out of the station: judging whether the floor mopping machine or other objects exist on the working platform of the floor mopping machine by judging whether a second limiting device on the working platform of the floor mopping machine is triggered; if the second limiting device on the floor mopping machine workbench is triggered, judging whether the floor mopping robot is charged, and if the floor mopping robot is not charged, considering that other objects on the floor mopping machine workbench prevent the floor sweeping machine workbench from descending; if the mopping robot is in the charging process, executing a mopping robot avoidance process I, and then starting a floor sweeping machine workbench descending process and a floor sweeping machine workbench ascending process;
the recharging process of the sweeping robot comprises the following steps: judging whether the floor mopping machine or other objects exist on the working platform of the floor mopping machine by judging whether a second limiting device on the working platform of the floor mopping machine is triggered; if the second limiting device on the floor mopping machine workbench is triggered, judging whether the floor mopping robot is charged, and if the floor mopping robot is not charged, considering that other objects on the floor mopping machine workbench prevent the floor sweeping machine workbench from descending; if the mopping robot is in charging, controlling to execute a mopping robot avoiding process I, then executing a floor sweeping machine workbench descending process, then aligning the floor sweeping robot with an infrared signal transmitting device on the mopping machine workbench through an infrared receiving sensor on a machine body, entering a workstation to start charging, and executing a floor sweeping machine workbench ascending process after the floor sweeping robot is charged;
the recharging process of the mopping robot comprises the following steps: firstly, judging whether other objects exist on a floor mopping machine workbench or not by judging whether a second limiting device on the floor mopping machine workbench is triggered or not; if the second limiting device on the floor mopping machine workbench is triggered, other objects on the floor mopping machine workbench are considered to prevent the floor mopping robot from recharging; if the second limiting device on the floor mopping machine workbench is not triggered, the floor mopping robot is aligned with the infrared signal transmitting device on the floor mopping machine workbench through the infrared receiving sensor on the machine body, enters the workstation and starts charging.
2. A sweeping robot cooperative workstation according to claim 1,
the floor mopping machine workbench is provided with:
a rotating device for controlling humidity of the mop of the mopping robot through rotation; the surface of the base is provided with a plurality of bulges.
3. A sweeping robot cooperative workstation according to claim 1,
the floor mopping machine workbench is provided with:
the vibration device is used for controlling the humidity of the mop of the mopping robot through vibration; the surface of the base is provided with a plurality of bulges.
4. A sweeping robot cooperative workstation according to claim 1,
the workstation further comprises:
the garbage recycling device is connected with the worktable of the sweeping machine and used for recycling the garbage of the sweeping robot;
the water purifying and cleaning device is connected with the floor mopping machine workbench and is used for wetting the mop cloth of the floor mopping robot;
and the sewage recovery device is connected with the floor mopping machine workbench and used for recovering the sewage of the floor mopping robot.
5. A sweeping robot cooperative workstation according to claim 4,
the sewage recovery device includes:
a sewage storage tank;
a sewage recovery pump;
the sewage recovery pipe is connected with the sewage storage box and is connected with the floor mopping machine workbench through the sewage recovery pump;
and the filtering device is arranged in the sewage recovery pipe or at the outlet of the sewage recovery pipe and is used for filtering sewage.
6. A sweeping robot cooperative workstation according to claim 5,
the water purification belt cleaning device includes:
a purified water storage tank;
a water purifying pump;
the nozzle is arranged on the floor mopping machine workbench;
one end of the purified water pipe is connected with the purified water storage tank; the other end of the water purifying pump is connected to the nozzle through the water purifying pump;
the sewage recovery device further comprises:
then the water pump is utilized;
and the water outlet is arranged on the reusable water level of the wall of the sewage storage tank and is connected to the nozzle through a water pipe by the reusable water pump.
7. A sweeping robot cooperative workstation according to claim 6,
the sewage recovery device further comprises:
a second water level detection device disposed at a position in the sewage storage tank equal to the reusable water level;
and the cooperative control center is used for controlling the reuse water pump to be started when the second water level detection device is triggered in the mop cleaning process of the mopping robot, and pumping the reusable sewage which is filtered and precipitated in the sewage storage box to the nozzle for spraying so as to realize spraying on the mopping of the mopping robot.
8. A sweeping robot cooperative workstation as claimed in claim 1, wherein said cooperative control center comprises:
the first wireless communication module is used for communicating with the sweeping robot and the mopping robot;
and the second wireless communication module is used for accessing the Internet.
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| CN114795029A (en) * | 2022-04-28 | 2022-07-29 | 佛山市银星智能制造有限公司 | Cleaning robot base station, cleaning robot module and method for controlling cleaning robot module to work |
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| CN201404163Y (en) * | 2009-03-20 | 2010-02-17 | 杨阳 | Water treatment device used for automatic floor cleaning machine |
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| CN204862994U (en) * | 2015-06-12 | 2015-12-16 | 淮南叶红建材销售有限公司 | Intelligence combination formula cleaning device |
| CN105990876B (en) * | 2015-12-21 | 2019-03-01 | 小米科技有限责任公司 | Charging pile, identification method and device thereof and automatic cleaning equipment |
| CN114468874A (en) * | 2016-12-16 | 2022-05-13 | 云鲸智能科技（东莞）有限公司 | Base station and cleaning robot system |
| DE102017108799A1 (en) * | 2017-04-25 | 2018-10-25 | Miele & Cie. Kg | Vacuum robot extension device for expanding the task spectrum of a vacuum robot, base station, vacuum robot and method for expanding the task spectrum of a vacuum robot |
| CN108403017A (en) * | 2018-05-10 | 2018-08-17 | 深圳市宇辰智能科技有限公司 | A kind of Intelligent cleaning robot system |
| DE102018114476B3 (en) * | 2018-06-15 | 2019-08-14 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Cleaning system, including supply robots and cleaning satellites, and methods of cleaning |
| CN109431394B (en) * | 2018-11-19 | 2020-10-27 | 浙江津海机械科技有限公司 | Intelligent household integrated cleaning robot |
| CN110811448A (en) * | 2019-11-04 | 2020-02-21 | 段属光 | Automatic disassembly and assembly method of mopping module of sweeping robot, sweeping robot and base |
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Address after: 266101 C1-301, Qingdao National University Science Park, No. 127, Hui Zhi Qiao Road, high tech Zone, Qingdao, Shandong Patentee after: Haier Robotics (Qingdao) Co.,Ltd. Patentee after: Haier Smart Home Co., Ltd. Address before: 266101 C1-301, Qingdao National University Science Park, No. 127, Hui Zhi Qiao Road, high tech Zone, Qingdao, Shandong Patentee before: Qingdao Tabor Robot Technology Co.,Ltd. Patentee before: Haier Smart Home Co., Ltd. |
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