CN112932358A - Floor washing robot system and water spraying control method thereof - Google Patents
Floor washing robot system and water spraying control method thereof Download PDFInfo
- Publication number
- CN112932358A CN112932358A CN202110134255.7A CN202110134255A CN112932358A CN 112932358 A CN112932358 A CN 112932358A CN 202110134255 A CN202110134255 A CN 202110134255A CN 112932358 A CN112932358 A CN 112932358A
- Authority
- CN
- China
- Prior art keywords
- water
- water level
- detection value
- washing robot
- water spraying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 266
- 238000005507 spraying Methods 0.000 title claims abstract description 83
- 238000005406 washing Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 239000010865 sewage Substances 0.000 claims abstract description 43
- 238000001914 filtration Methods 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 238000011217 control strategy Methods 0.000 claims abstract description 8
- 239000007921 spray Substances 0.000 claims description 19
- 238000005086 pumping Methods 0.000 claims description 17
- 238000013178 mathematical model Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 5
- 239000002351 wastewater Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
- A47L11/305—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Sustainable Development (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a floor washing robot system and a water spraying control method thereof, wherein the system comprises a vehicle body, a brush head, a clean water tank, a sewage collecting device, a filtering and sucking device, a controller and a ground roughness detector; the method comprises the steps of receiving a detection value of the ground roughness, calculating or matching a water spraying control strategy according to the detection value of the ground roughness, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the water spraying control strategy. According to the invention, the ground roughness detector and the water level sensor are arranged to comprehensively and accurately acquire the required information, the water spraying amount of the floor washing robot can be automatically adjusted according to the material of the road surface, and the amount of clean water and sewage is fed back to the controller, so that the problem of insufficient clean water or overflow of the sewage is prevented, the automation degree is enhanced, and the cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of public facility cleaning, in particular to a floor cleaning robot system and a water spraying control method thereof.
Background
With the continuous progress of science and technology, the robot system is widely applied and developed in various industries, and the abundant functions, simple operation and high-efficiency workers of the robot system bring great convenience and influence to the life and research of people.
The manual cleaning mode adopted in the scenes with large areas such as underground parking lots can cause low efficiency and waste of a large amount of manpower, material resources and time cost, so that the floor cleaning robot is rapidly developed under the large intelligent background. The problem that how to adjust the water spraying amount of the floor washing robot is critical has an important influence on the final floor cleaning effect, but in the prior art, the method for adjusting the water spraying amount is mostly determined according to experience, the method has poor adaptability to floors made of different materials, and meanwhile, the change condition of the water amount of clean water is not taken into consideration, so that the efficiency is low and the automation degree is low.
Accordingly, there is a need for a floor washing robot system and a water spray control method thereof.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a floor washing robot system and a water spraying control method thereof, which solve the problem of low efficiency caused by water quantity adjustment when a floor washing robot carries out floor washing operation on road surfaces made of different materials, and simultaneously avoid the problems of full overflow of sewage or empty of clean water, and the technical scheme is as follows:
a floor washing robot system includes a vehicle body having wheels; and the following components arranged on the vehicle body:
the brush head is arranged at the bottom of the vehicle body and used for cleaning the ground;
the clean water tank is used for storing water for washing the ground, and is also provided with a water spraying electromagnetic valve which is used for spraying the water in the clean water tank to the brush head;
the sewage collecting device comprises a sewage tank and an air suction motor, wherein the air suction motor is used for sucking the ground sewage into the sewage tank;
the filtering and pumping device comprises a filtering unit and a pump unit which are arranged in series, the inlet of the filtering and pumping device is communicated with the sewage tank through a pipeline, and the outlet of the filtering and pumping device is communicated with the clean water tank through a pipeline;
the floor washing robot system further comprises a controller and a ground roughness detector, the ground roughness detector is used for detecting the roughness of the ground, the ground roughness detector and the water spraying electromagnetic valve are electrically connected with the controller, and the controller controls the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the detection value of the ground roughness detector.
Further, the controller compares the detection value of the ground roughness detector with a preset roughness threshold value, and controls the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result.
Further, the controller inputs the detection value of the ground roughness detector into a pre-established mathematical model, and controls the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the output result of the mathematical model.
Furthermore, a first water level sensor is further arranged in the clean water tank and electrically connected with the controller, the controller compares a water level detection value of the first water level sensor with a preset first water level threshold value, and controls the on-off time and/or the opening degree of the water spraying electromagnetic valve according to a comparison result.
Furthermore, a second water level sensor is further arranged in the sewage tank and electrically connected with the controller, the controller compares a water level detection value of the second water level sensor with a preset second water level threshold value, and controls the on-off time and/or the power of the air suction motor according to a comparison result.
Further, the floor washing robot system also comprises a driving mechanism for driving wheels of the vehicle body to rotate; and/or a manual operation push handle is arranged on the vehicle body.
In one aspect, the present invention provides a method for controlling water spray of a floor washing robot, for controlling a water spray solenoid valve of the floor washing robot, the method comprising the steps of:
s11, receiving a detection value of the ground roughness;
s12, calculating or matching a water spraying control strategy according to the detection value of the ground roughness;
and S13, controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the water spraying control strategy.
Further, steps S12 and S13 include:
comparing the detection value of the ground roughness detector with a preset roughness threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result; or,
and inputting the detection value of the ground roughness detector into a pre-established mathematical model, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the output result of the mathematical model.
On the other hand, the invention also provides a water spraying control method of the floor washing robot, which comprises the following steps:
s21, receiving a water level detection value of the first water level sensor;
and S22, comparing the water level detection value of the first water level sensor with a preset first water level threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result.
In still another aspect, the present invention also provides a floor washing robot control method, including the steps of:
s31, receiving a water level detection value of the second water level sensor;
and S32, comparing the water level detection value of the second water level sensor with a preset second water level threshold value, and controlling the on-off time and/or the power of the air suction motor according to the comparison result.
The technical scheme provided by the invention has the following beneficial effects:
a. the corresponding water spraying amount can be automatically adjusted according to the material of the road surface, and the automation degree is high;
b. the clear water quantity is fed back to the controller, so that the problem of insufficient clear water quantity or overflow of sewage water is prevented, and the cleaning efficiency is high;
c. not only has the roughness detector of ground, still is equipped with level sensor, comprehensive accurate required information that acquires does benefit to the accuracy and carries out follow-up work high-efficiently.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a floor washing robot system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood and more clearly understood by those skilled in the art, the technical solutions of the embodiments of the present invention will be described below in detail and completely with reference to the accompanying drawings. It should be noted that the implementations not shown or described in the drawings are in a form known to those of ordinary skill in the art. Additionally, while exemplifications of parameters including particular values may be provided herein, it is to be understood that the parameters need not be exactly equal to the respective values, but may be approximated to the respective values within acceptable error margins or design constraints. It is to be understood that the described embodiments are merely exemplary of a portion of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In one embodiment of the present invention, a floor washing robot system is provided, as shown in fig. 1, including a vehicle body having wheels, and a brush head, a clean water tank, a dirty water tank, a suction motor, a filtering suction device, a controller, and a ground roughness detector provided on the vehicle body. The floor cleaning robot is characterized in that a brush head is arranged at the bottom of the vehicle body, and like an environmental sanitation vehicle, the floor cleaning robot is further provided with a lifting device for driving the brush head to move up and down and a rotating mechanism for driving the brush head to rotate; the bottom of the clean water tank is preferably provided with a water spraying electromagnetic valve, and the brush head can be arranged at the outlet of the water spraying electromagnetic valve, so that clean water or cleaning liquid in the clean water tank can be sprayed to the brush head through the water spraying electromagnetic valve; the air suction motor is preferably arranged below the sewage tank and used for sucking water on the ground into the sewage tank, the clean water tank is connected with the sewage tank through the filtering and pumping device, so that a water loop of the clean water tank, the ground and the sewage tank is formed and then returns to the clean water tank, and the ground roughness detector, the water spray electromagnetic valve and the air suction motor are electrically connected with the controller.
The probe of the ground roughness detector is arranged downwards, and the angle range between the detection direction of the probe and the horizontal plane is 45-90 degrees. When the vehicle body starts to start to advance on the road surface to be cleaned, or before the vehicle body starts to start, the ground roughness detector detects the roughness of the road surface to be cleaned and sends a roughness detection value to the controller, and the controller controls the working condition of the water spraying electromagnetic valve according to the roughness detection value. Generally speaking, the rougher the ground is detected, the larger the water flow or spraying speed sprayed by the water spraying solenoid valve is controlled by the controller, and the working condition of the water spraying solenoid valve can be specifically adjusted by parameters such as the on-off time, the opening size, the working power and the like of the water spraying solenoid valve, for example, compared with a smooth tile ground, the opening of the water spraying solenoid valve is controlled to be larger, and the on-off time ratio is larger, and the specific adjustment manner is as follows:
the first adjustment mode is to control the on-off time of the water spray solenoid valve, if the road surface detected by the ground roughness detector changes from rough to smooth, the controller will control the on-off time of the water spray solenoid valve to be shortened, for example, when the vehicle body is on a rough cement road surface, the on-off time of the water spray solenoid valve is three seconds on and one second off, and the cycle is carried out, and when the vehicle body moves to a relatively smooth tile road surface, the controller will adjust the on-off time of the water spray solenoid valve to be three seconds on and one second off, and the cycle is carried out, so that the floor washing robot can match the appropriate floor washing water amount according to the roughness of the ground; if the road surface detected by the ground roughness detector changes from smooth to rough, the controller controls the service time of the water spraying electromagnetic valve to be relatively prolonged, and details are not repeated. Here, "one second" and "three seconds" are examples, and are not intended to specifically limit the scope of protection.
The second adjustment mode is to control the opening of the water spraying solenoid valve, if the road surface detected by the ground roughness detector changes from rough to smooth, the controller will control the opening of the water spraying solenoid valve to decrease, for example, when the vehicle body is on a rough cement road surface, the opening of the water spraying solenoid valve is 80%, and when the vehicle body travels to a relatively smooth tile road surface, the controller will adjust the opening of the water spraying solenoid valve to 40%; if the road surface detected by the ground roughness detector changes from smooth to rough, the controller controls the opening of the water spraying electromagnetic valve to be relatively increased, and the details are not repeated. Here, "80%" and "40%" are examples, and do not specifically limit the scope of protection.
It should be noted that the adjustment modes of parameters such as on-off time, opening degree, working power and the like of the water spraying electromagnetic valve can be used independently or in combination, and are not particularly limited and selected in combination with actual conditions.
Except for correspondingly adjusting the working condition of the water spray electromagnetic valve by comparing a preset roughness threshold value, the controller can also input the detection value of the ground roughness detector into a pre-established mathematical model, and adjust parameters such as on-off time, opening degree, working power and the like of the water spray electromagnetic valve according to the output result of the mathematical model, and the specific adjustment mode is similar to the above and is not repeated. It should be noted that, no matter the preset roughness threshold value or the pre-established mathematical model, the method can be used independently or comprehensively, when the two are used comprehensively, the optimal scheme is selected for the parameter adjusting amplitude of the water spraying electromagnetic valve, and besides the two adjusting bases, other bases can be selected as references without specific limitation.
The system is also provided with a first water level sensor and a second water level sensor, wherein the first water level sensor is arranged in the clean water tank and is electrically connected with the controller, and the second water level sensor is arranged in the sewage tank and is electrically connected with the controller.
When the water spraying electromagnetic valve sprays clean water in the clean water tank to the brush head, and the brush head starts cleaning operation, the clean water is changed into sewage, the air suction motor sucks ground sewage into the sewage tank, the first water level sensor sends a detected water level detection value in the clean water tank to the controller, the controller compares the water level detection value of the first water level sensor with a preset first water level threshold value, and adjusts relevant parameters such as on-off time and opening degree of the water spraying electromagnetic valve according to a comparison result, and the on-off time is taken as an example, and is specifically explained:
when the water level detection value is smaller than or equal to a preset first water level threshold value, the controller issues an instruction for adjusting the on-off time to the water spraying electromagnetic valve, the on-off time of the water spraying electromagnetic valve before the instruction is received is three seconds on and one second off, after the instruction is received, the on-off time of the water spraying electromagnetic valve is changed into three seconds on and three seconds off, the water consumption speed of the clean water tank is reduced by reducing the water spraying time, and the water shortage in the clean water tank is prevented. In an embodiment of the present invention, a first safe water level threshold higher than the first water level threshold is further required, since the water filtered by the filtering and pumping device enters the clean water tank, if the water level gradually rises to reach the first safe water level threshold, the operating state of the on-off time of the water spraying solenoid valve matched by the roughness detection value needs to be recovered.
It should be noted that when detecting that the clear water tank water level is lower than the first water level threshold, adjust the aperture of water spray solenoid valve diminishes and adjusts its on-off time the same reason, and the purpose is the speed that slows down the water consumption of clear water tank, no longer gives details. Besides the above two parameters, other relevant parameters can be selected for adjustment, and are not particularly limited.
On the other hand, the second water level sensor sends the detected water level detection value in the sewage tank to the controller, the controller compares the water level detection value with a preset second water level threshold value, and adjusts relevant parameters such as on-off time and power of the air suction motor according to the comparison result, taking power adjustment as an example, the specific description is that:
when the water level detection value is greater than or equal to a preset second water level threshold value, the controller gives an instruction of adjusting power to the air suction motor, the power of the air suction motor before the instruction is received is 1500W, after the instruction is received, the power of the air suction motor is adjusted to 900W, the water inlet speed of the sewage tank is slowed down by reducing the water suction power, and the sewage in the sewage tank is prevented from overflowing fully. In an embodiment of the present invention, a second safe water level threshold lower than the second water level threshold is further required, and if the water level is gradually decreased to the second safe water level threshold, the initial power parameter of the suction motor may be recovered.
It should be noted that when detecting that sewage case water level is higher than second water level threshold value, adjust the motor on-off time proportional value that induced drafts diminishes and adjust power diminishes the same reason, and the purpose is the speed of intaking that slows down the sewage case, no longer gives things convenient for. Besides the above two parameters, other relevant parameters can be selected for adjustment, and are not particularly limited.
The water level change in the sewage tank not only depends on the working condition of the air suction motor, but also depends on the filtering and pumping device, the filtering and pumping device comprises a filtering unit and a pump unit which are arranged in series, the inlet of the filtering and pumping device is communicated with the sewage tank through a pipeline, the outlet of the filtering and pumping device is communicated with the clean water tank through a pipeline, and the filtering and pumping device is electrically connected with the controller. The controller controls parameters such as on-off time, opening degree and the like of the filtering and pumping device to adjust the working condition of the filtering and pumping device according to water level values in the clean water tank and the sewage tank detected by the water level sensor. For example, when the water level in the sewage tank is greater than or equal to the preset second water level threshold value, or the water level in the clean water tank is less than the preset first water level threshold value, the controller will issue an instruction to adjust the on-off time of the water pump in the filtering and pumping device, for example, adjust the original "on two seconds and one second off" to "on three seconds and one second off", or increase the working power of the water pump to accelerate the filtering and pumping efficiency, so that the water in the sewage tank does not overflow, and meanwhile, the water amount in the clean water tank is ensured to be sufficient, and the cleaning efficiency is high.
The floor washing robot system further comprises a driving mechanism for driving wheels of the vehicle body to rotate, and a manual operation pushing handle is arranged on the vehicle body. When the driving mechanism is not enough to maintain the automatic running of the vehicle body, the cleaning operation can be carried out through the manual operation push handle.
Aiming at the floor washing robot system, the water spraying control method comprises the following steps:
s11, receiving a detection value of the ground roughness;
s12, calculating or matching a water spraying control strategy according to the detection value of the ground roughness;
and S13, controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the water spraying control strategy.
Wherein the steps S12 and S13 include:
comparing the detection value of the ground roughness detector with a preset roughness threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result; or inputting the detection value of the ground roughness detector into a pre-established mathematical model, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the output result of the mathematical model.
Further, a method for adjusting with a first water level sensor in the floor washing robot system comprises the steps of:
s21, receiving a water level detection value of the first water level sensor;
and S22, comparing the water level detection value of the first water level sensor with a preset first water level threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result.
The method for adjusting with a second water level sensor in the floor washing robot system comprises the following steps:
s31, receiving a water level detection value of the second water level sensor;
and S32, comparing the water level detection value of the second water level sensor with a preset second water level threshold value, and controlling the on-off time and/or the power of the air suction motor according to the comparison result.
The idea of the embodiment of the water spray control method and the water level adjustment of the floor washing robot system belongs to the same idea as the working process of the floor washing robot system in the embodiment, and the whole content of the embodiment of the floor washing robot system is incorporated into the embodiment of the method by full-text reference, so that the description is omitted.
In the floor washing robot system, the corresponding relationship between the hardware device and the controller is as follows:
(1) the clean water tank and the sewage tank are water storage devices, clean water in the clean water tank is discharged through a water spraying solenoid valve and is sucked back to the sewage tank by an air suction motor, and sewage in the sewage tank flows to the clean water tank after being filtered;
(2) the clear and sewage tanks are respectively provided with a water level monitoring device, analog quantity/switching value signals of water level detection are input to the controller, and water level state information is obtained after conversion by the controller;
(3) the ground roughness detecting device is a sensor which can sense the surface roughness of an object and convert the surface roughness into a usable output signal, and the signal is input to the controller.
(4) The controller synthesizes the input signals of all the sensors, obtains the current water spraying amount after processing and operation, and adjusts the water spraying amount by controlling the opening and closing of the water spraying electromagnetic valve.
The controller mainly realizes the following two functions:
(1) automatically calculating and executing different water spraying quantities on the ground with different materials (roughness);
firstly, solidifying the water spraying quantity used in different roughness ranges in the program, wherein the specific numerical value is obtained by repeatedly testing and taking the water spraying quantity in the optimal state;
secondly, detecting the current ground roughness by a ground roughness detecting device in a working state, and inquiring according to a pre-cured water spraying rule to obtain the water spraying amount after the controller obtains a roughness value;
and finally, the controller ensures the water spraying amount by controlling the on-off time of the water spraying electromagnetic valve.
(2) The water spraying amount is adjusted in time along with the change of the water amount of the clean water, so that the cleaning task is not interrupted;
in order to ensure that the water amount of the clean water is within a reasonable range and avoid the stop of the ground washing operation caused by the full sewage or empty clean water, the controller is required to adjust the water spraying amount in time after finding the trend.
Firstly, continuously and circularly detecting the water quantity, and judging the water quantity of the sewage cleaning water tank according to a signal of a water level detection device;
and secondly, when the water quantity of the sewage tank is close to full or the water quantity of the clean water tank is close to empty, the water spraying quantity is timely reduced, and when the water levels of the two water tanks are in a safe value range, the water spraying quantity is restored to normal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A floor washing robot system comprising a vehicle body having wheels; and the following components arranged on the vehicle body:
the brush head is arranged at the bottom of the vehicle body and used for cleaning the ground;
the clean water tank is used for storing water for washing the ground, and is also provided with a water spraying electromagnetic valve which is used for spraying the water in the clean water tank to the brush head;
the sewage collecting device comprises a sewage tank and an air suction motor, wherein the air suction motor is used for sucking the ground sewage into the sewage tank;
the filtering and pumping device comprises a filtering unit and a pump unit which are arranged in series, the inlet of the filtering and pumping device is communicated with the sewage tank through a pipeline, and the outlet of the filtering and pumping device is communicated with the clean water tank through a pipeline;
the floor washing robot system further comprises a controller and a ground roughness detector, the ground roughness detector is used for detecting the roughness of the ground, the ground roughness detector and the water spraying electromagnetic valve are electrically connected with the controller, and the controller controls the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the detection value of the ground roughness detector.
2. The floor washing robot system according to claim 1, wherein the controller compares the detection value of the ground roughness detector with a preset roughness threshold value, and controls the on-off time and/or the opening degree of the water spray solenoid valve according to the comparison result.
3. The floor washing robot system according to claim 1, wherein the controller inputs the detection value of the ground roughness detector into a pre-established mathematical model, and controls the on-off time and/or the opening degree of the water spray solenoid valve according to the output result of the mathematical model.
4. The floor washing robot system according to claim 1, wherein a first water level sensor is further arranged in the clean water tank, the first water level sensor is electrically connected with the controller, the controller compares a water level detection value of the first water level sensor with a preset first water level threshold value, and controls the on-off time and/or the opening degree of the water spraying solenoid valve according to a comparison result.
5. The floor washing robot system according to claim 1, wherein a second water level sensor is further disposed in the wastewater tank, the second water level sensor is electrically connected to the controller, and the controller compares a water level detection value of the second water level sensor with a preset second water level threshold value and controls the on-off time and/or the power of the suction motor according to the comparison result.
6. The machine washing robot system of claim 1, further comprising a drive mechanism for driving rotation of wheels of the vehicle body; and/or
The vehicle body is provided with a manual operation push handle.
7. A water spray control method for a floor washing robot, for controlling a water spray solenoid valve of the floor washing robot, characterized in that the method comprises the steps of:
s11, receiving a detection value of the ground roughness;
s12, calculating or matching a water spraying control strategy according to the detection value of the ground roughness;
and S13, controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the water spraying control strategy.
8. The washing robot water spray control method of claim 7, wherein the steps S12 and S13 include:
comparing the detection value of the ground roughness detector with a preset roughness threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result; or,
and inputting the detection value of the ground roughness detector into a pre-established mathematical model, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the output result of the mathematical model.
9. A water spray control method for a floor washing robot, based on the floor washing robot system of claim 4, characterized by comprising the steps of:
s21, receiving a water level detection value of the first water level sensor;
and S22, comparing the water level detection value of the first water level sensor with a preset first water level threshold value, and controlling the on-off time and/or the opening degree of the water spraying electromagnetic valve according to the comparison result.
10. A method for controlling a floor washing robot based on the floor washing robot system of claim 5, characterized in that the method comprises the steps of:
s31, receiving a water level detection value of the second water level sensor;
and S32, comparing the water level detection value of the second water level sensor with a preset second water level threshold value, and controlling the on-off time and/or the power of the air suction motor according to the comparison result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110134255.7A CN112932358B (en) | 2021-01-29 | 2021-01-29 | Floor washing robot system and water spraying control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110134255.7A CN112932358B (en) | 2021-01-29 | 2021-01-29 | Floor washing robot system and water spraying control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112932358A true CN112932358A (en) | 2021-06-11 |
| CN112932358B CN112932358B (en) | 2022-12-20 |
Family
ID=76240348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110134255.7A Active CN112932358B (en) | 2021-01-29 | 2021-01-29 | Floor washing robot system and water spraying control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112932358B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475956A (en) * | 2022-02-08 | 2022-05-13 | 天津捷强动力装备股份有限公司 | Decontamination control method for nucleation detection decontamination all-in-one machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6591448B1 (en) * | 2000-11-20 | 2003-07-15 | Alto Us Inc. | Carpet extraction machine recovery tool |
| CN105342528A (en) * | 2015-11-24 | 2016-02-24 | 苏州大学 | Automatic mopping cleaner and mopping robot |
| CN207024011U (en) * | 2017-03-09 | 2018-02-23 | 广州市超洁亮清洁机械有限公司 | Electronic floor-cleaning machine with automatic ink-suction function |
| CN109044203A (en) * | 2018-06-28 | 2018-12-21 | 芜湖泰领信息科技有限公司 | Sweeper automatic cleaning method and intelligent sweeping machine |
| CN209789762U (en) * | 2018-08-28 | 2019-12-17 | 南京特沃斯清洁设备有限公司 | Intelligent water-saving floor washing machine |
| CN111714037A (en) * | 2020-06-19 | 2020-09-29 | 北京真机智能科技有限公司 | Indoor and outdoor universal intelligent sweeping and washing integrated robot and cleaning method thereof |
| CN111870193A (en) * | 2020-07-03 | 2020-11-03 | 江苏旭美特环保科技有限公司 | Real-time water yield adjusting device of scrubber |
-
2021
- 2021-01-29 CN CN202110134255.7A patent/CN112932358B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6591448B1 (en) * | 2000-11-20 | 2003-07-15 | Alto Us Inc. | Carpet extraction machine recovery tool |
| CN105342528A (en) * | 2015-11-24 | 2016-02-24 | 苏州大学 | Automatic mopping cleaner and mopping robot |
| CN207024011U (en) * | 2017-03-09 | 2018-02-23 | 广州市超洁亮清洁机械有限公司 | Electronic floor-cleaning machine with automatic ink-suction function |
| CN109044203A (en) * | 2018-06-28 | 2018-12-21 | 芜湖泰领信息科技有限公司 | Sweeper automatic cleaning method and intelligent sweeping machine |
| CN209789762U (en) * | 2018-08-28 | 2019-12-17 | 南京特沃斯清洁设备有限公司 | Intelligent water-saving floor washing machine |
| CN111714037A (en) * | 2020-06-19 | 2020-09-29 | 北京真机智能科技有限公司 | Indoor and outdoor universal intelligent sweeping and washing integrated robot and cleaning method thereof |
| CN111870193A (en) * | 2020-07-03 | 2020-11-03 | 江苏旭美特环保科技有限公司 | Real-time water yield adjusting device of scrubber |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475956A (en) * | 2022-02-08 | 2022-05-13 | 天津捷强动力装备股份有限公司 | Decontamination control method for nucleation detection decontamination all-in-one machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112932358B (en) | 2022-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215016857U (en) | Floor washing robot with automatic water spraying amount adjusting function | |
| CN112932358B (en) | Floor washing robot system and water spraying control method thereof | |
| KR102306263B1 (en) | Method for controlling water circulation and processing in washing machine and washing machine | |
| WO2021254380A1 (en) | Water sample pretreatment device, water sample pretreatment system, and water sample pretreatment method | |
| CN208012731U (en) | A kind of intelligence steel concrete electronic vehicle weighing apparatus | |
| CN104379828A (en) | Environmentally friendly washing machine | |
| CN111000505B (en) | Control method and controller for sweeper | |
| CN111358392A (en) | Work methods and removable equipment | |
| CN103908832B (en) | A kind of multi-stage sewage cycle for the treatment of reutilization system for inhaling dirty car | |
| WO2024060637A1 (en) | Floor cleaning machine control system, floor cleaning machine, and control method | |
| CN214906477U (en) | Floor washing robot with automatic water level adjustment function of water tank | |
| CN112575727A (en) | Intelligent water spraying system of sanitation vehicle | |
| CN118257222A (en) | Adsorption cleaning control method and system for unmanned cleaning vehicle | |
| CN109989379B (en) | Device and method for controlling incident angle of water spray rod of washing and sweeping vehicle | |
| CN208669564U (en) | Pump energy saving control system | |
| US20170325644A1 (en) | Central vacuum system and its use | |
| CN111663479A (en) | Self-adaptive dust-falling water path of sweeper | |
| CN208411680U (en) | A kind of carwash bench control system | |
| CN218728667U (en) | Control system of floor cleaning machine and floor cleaning machine | |
| CN211340630U (en) | A road dust removal system | |
| CN107485342A (en) | A kind of control system of recyclable curtain wall cleaning agent flusher | |
| JP4426786B2 (en) | Waste water separation device | |
| CN108691158B (en) | Washing machine rinsing wastewater collection water saving fixtures | |
| JPH05161582A (en) | Vacuum motor output controller for floor surface washing car | |
| CN112874486A (en) | Foundation pit car washer using circulating water and using method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |