A small autonomous floor-cleaning robot and its control system

Abstract

The present invention discloses a small autonomous floor-cleaning robot and its control system; the small autonomous floor-cleaning robot comprises a body, a disc brush, a water suction pad, a chassis driving system, a drainage system, a sewage circulation filtering system and a control system; the sewage circulation filtering system comprises a sewage tank and a clean water tank, and a sewage primary filter element and a filter pump for filtering sewage are arranged in the sewage tank; a circulating filter element is arranged in the clean water tank. The sewage recovered in the sewage tank is filtered and recovered by the sewage primary filter element and the filter pump, and then added to the clean water tank, and is further recycled after being filtered by the circulating filter element in the clean water tank. A control system of a small autonomous floor-cleaning robot, wherein the industrial computer obtains an image through a laser module and establishes a path planning, selects the water sprinkling amount, the disc brush driving speed, and the water suction motor speed on the operation interface of the industrial computer, and then starts with one button, and the small autonomous floor-cleaning robot moves under the action of the chassis driving system, and performs autonomous cleaning operations while walking.

Description

Technical Field

[0001] The present invention belongs to the technical field of small intelligent robots, and in particular relates to a small autonomous floor-cleaning robot and a control system thereof. Background Art

[0002] my country is entering the dilemma of an aging population, and property cleaning is facing a shortage of labor market and rising labor costs. The advent of commercial floor scrubbers can greatly reduce the cleaning costs of enterprises and related units. At present, when floor scrubbers are washing the floor, the floor scrubbers generally spray clean water and rotate the disc brushes to clean the floor. At the same time, the water suction pads at the rear suck the sewage back into the floor scrubbers for storage. After the floor scrubbing work is completed, the cleaning staff manually discharges the sewage and adds water. However, due to the lack of cleaning staff, the floor scrubbers are often unable to discharge sewage and add water in time after work, resulting in low working efficiency of the existing floor scrubbers.

[0003] At the same time, existing commercial robots are large in size and cannot fully meet the usage needs in small scenes such as hospitals, shopping malls, office buildings, factory workshops and other areas. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a small autonomous floor-cleaning robot, which improves the autonomy and working efficiency of the floor-cleaning robot and reduces labor costs.

[0005] To this end, the technical solution of the present invention is:

[0006] A small autonomous floor-cleaning robot, comprising a body, a disc brush for floor-cleaning, a water-absorbing pad arranged behind the disc brush for absorbing sewage, and a chassis driving system for driving the body to walk and turn, characterized in that it also comprises: a water supply and drainage system for spraying water on the ground, a sewage circulation and filtration system for purifying sewage for recycling, and a control system, wherein the control system is communicatively connected with each system;

[0007] The sewage circulation filtration system comprises a sewage tank and a clean water tank arranged on the machine body, wherein a sewage primary filter element for initially filtering sewage is arranged in the sewage tank, and a filter pump for filtering sewage again and sucking the filtered sewage into the clean water tank is also arranged in the sewage tank; a circulation filter element for purifying sewage again is arranged in the clean water tank;

[0008] The sewage recovered in the sewage tank is filtered and recovered by a sewage primary filter element and a filter pump, and then added to the clean water tank, and then filtered by a circulating filter element in the clean water tank and recycled.

[0009] Furthermore, a sewage level upper limit float switch is provided in the sewage tank for detecting whether the liquid level reaches the sewage upper limit; the circulating filter element includes: a circulating filter primary filter element and a circulating filter secondary filter element.

[0010] Furthermore, the water supply and drainage system includes: a water injection pipe for filling the clean water tank with water, a clean water filter element for filtering the water injected by the water injection pipe, and a float switch for detecting the upper and lower limit water levels in the clean water tank.

[0011] Furthermore, it also includes an autonomous sewage discharge system, which includes: a sewage discharge filter element, a sewage discharge booster pump and a sewage discharge pipe. The sewage in the sewage tank is filtered by the sewage discharge filter element, pressurized by the sewage discharge booster pump and discharged from the sewage discharge pipe. It also includes a sewage discharge electric ball valve for detecting whether the sewage liquid level meets the sewage discharge conditions.

[0012] Furthermore, the chassis drive system includes: a universal wheel located in front of the traveling direction, and drive wheels located in front of the traveling direction and distributed on the left and right, and the drive wheels are differentially driven by hub motors.

[0013] Furthermore, there are two disc brushes, which are symmetrically distributed along the center line of the chassis; the disc brush can be raised and lowered under the drive of the disc brush lifting mechanism; the water absorption pad is an arc structure that can swing left and right, and the water absorption pad can be raised and lowered under the drive of the water absorption pad lifting mechanism.

[0014] Furthermore, it also includes: electronic code visual navigation for positioning, a WIFI module and 4G router for providing communication connection signals, an IMU for measuring the spatial coordinates and acceleration of the small autonomous floor washing robot, a QR code camera for precise positioning and navigation at close range, and an ultrasonic sensor for scanning the path to avoid or bypass obstacles. The WIFI module, 4G router, IMU and QR code camera are communicatively connected to the industrial computer, and the ultrasonic sensor is communicatively connected to the embedded mainboard.

[0015] Furthermore, it also includes a safety obstacle avoidance system; the obstacle avoidance system includes: a laser module for collecting images of the cleaning area, an ultrasonic sensor arranged on the body to detect obstacles, and an electronic anti-collision strip.

[0016] Another aspect of the present invention provides a control system for a small autonomous floor-cleaning robot, characterized in that it includes: a laser module for performing laser scanning to acquire an image of a cleaning area, an industrial computer for communicating and transmitting with the laser module, an embedded mainboard for performing operation control according to information output by the industrial computer, a plurality of driving components connected to the embedded mainboard, and a plurality of execution components driven by the driving components. The action of the execution components enables the small autonomous floor-cleaning robot to perform operations such as walking, cleaning, autonomous charging, autonomous watering, and autonomous sewage discharge.

[0017] Furthermore, it also includes: electronic code visual navigation for positioning, a WIFI module and 4G router for providing communication connection signals, an IMU for measuring the spatial coordinates and acceleration of the small autonomous floor washing robot, a QR code camera for precise positioning and navigation at close range, and an ultrasonic sensor for scanning the path to avoid or bypass obstacles. The WIFI module, 4G router, IMU and QR code camera are communicatively connected to the industrial computer, and the ultrasonic sensor is communicatively connected to the embedded mainboard.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The small autonomous floor-cleaning robot and its control system of the present invention can realize operations such as autonomous navigation, autonomous water addition, autonomous sewage discharge, and autonomous charging, thereby improving the autonomy of the robot and reducing the cost of manual intervention; on the other hand, the sewage is recycled as clean water again after passing through the sewage filtration circulation filtration system, thereby reducing the timely sewage discharge and water addition work of cleaning personnel and improving the floor-cleaning efficiency; especially in crowded places such as hospitals, the risk of cleaning personnel being infected with infectious diseases is greatly reduced.

[0020] Compared with large-scale floor-cleaning robots, the small-scale autonomous floor-cleaning robot of the present invention can be widely used in hospitals, shopping malls, office buildings, factory workshops and other occasions with relatively small working scenes due to its advantages such as small size, low noise and high degree of automation, thereby greatly saving labor costs.

[0021] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the small autonomous floor-cleaning robot of the present invention;

[0023] Figure 2 This is a schematic structural diagram of the small autonomous floor-cleaning robot of the present invention from another perspective;

[0024] Figure 3 for Figure 2 A magnified view of the details in;

[0025] Figure 4 It is a sewage tank and a clean water tank installed on the upper part of the small autonomous floor-cleaning robot;

[0026] Figure 5 This is a schematic diagram of the control system of a small autonomous floor-cleaning robot.

[0027] Among them, 1 is a disc brush, 2 is a water suction pad, 3 is a sewage tank, 4 is a clean water tank, 8 is a sprinkler valve, 9 is a clean water sprinkler pipe, 10 is a water injection pipe, 11 is a right wheel hub motor, 12 is a water injection port, 13 is a universal wheel, 14 is an emergency stop button, 15 is a circulating filter primary filter element, 16 is a circulating filter secondary filter element, 32 is a clean water filter element, 51 is a sewage primary filter element, 52 is a sewage suction pipe, 53 is a fan, 54 is a water suction motor, 55 is a sewage exhaust pipe, 56 is a sewage suction pipe, 61 is the first sewage circulating filter connecting pipe, 62 is the second sewage circulating filter connecting pipe, 63 is a water suction pad pipe, 71 is a sewage pipe, 72 is a sewage booster pump, 73 is a sewage electric ball valve, 74 is a sewage outlet, and 75 is a sewage filter element. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them; based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the present invention, SLAM is the abbreviation of Simultaneous Localization And Mapping.

[0029] Example 1

[0030] like Figure 1 to Figure 4 , which is a schematic diagram of the structure of the small autonomous floor-cleaning robot of the present invention.

[0031] A small autonomous floor-cleaning robot of the present invention comprises a body, a disc brush 1 for floor cleaning, a water suction pad 2 arranged behind the disc brush 1 for sucking sewage, a chassis driving system for driving the body to walk and turn, a water supply and drainage system for replenishing water in a water tank and spraying water on the ground, a sewage circulation filtration system for purifying sewage for recycling, and a control system, wherein the control system is communicatively connected with other systems.

[0032] like Figure 1 to Figure 4 As shown, the unmanned floor scrubber robot adopts a dual water tank design, namely a clean water tank 4 and a sewage tank 3, both with a capacity of 25L, and the water tank bodies are made of stainless steel welding. Figure 1 to Figure 4As shown, in the present invention, the sewage circulation filtration system includes a double water tank arranged on the body, namely, a sewage tank 3 and a clean water tank 4; specifically, a sewage primary filter element 51 for primary filtration of sewage is arranged in the sewage tank 3, and a filter pump for filtering sewage again and sucking the filtered sewage to the clean water tank 4 is also arranged in the sewage tank 3. In addition, a sewage filter element 75, a sewage level float switch, a circulating filtration level float switch, etc. are also arranged in the sewage tank 3; the sewage suction pipe 56 at the starting end of the sewage tank 3 is a stainless steel pipe. A clean water filter element 32 for filtering clean water, a clean water level float switch for detecting whether the liquid level is full, and a circulating filtration filter element for filtering sewage are arranged in the clean water tank 4; the circulating filtration filter element includes: a circulating filtration primary filter element 15 and a circulating filtration secondary filter element 16 for secondary filtration. Figure 4 This is a schematic diagram of the sewage tank and clean water tank on the upper part of the body of the small autonomous floor cleaning robot after the top cover is opened.

[0033] like Figure 1 to Figure 4 As shown, in the present invention, the sewage recovered by the sewage tank 3 flows out of the sewage tank 3, passes through the sewage primary filter element 51, flows through the first sewage circulation filter connecting pipe 61, and then flows to the filter pump, the filter electric ball valve, flows through the second sewage circulation filter connecting pipe 62, and is filtered and recovered, and then replenished into the clean water tank 4. After being filtered by the circulating filter primary filter element 15 and the circulating filter secondary filter element 16 in the clean water tank 4, it is further recycled.

[0034] like Figure 1 to Figure 4 As shown, the small autonomous floor-cleaning robot also includes an autonomous water filling and drainage system, which includes a water filling pipe 10 that can automatically add water to the clean water tank 4, a clean water filter element 32, a clean water level float switch, and a clean water level lower limit float switch for detecting whether the liquid level has reached the lower limit. Figure 1 to Figure 4 As shown, the small autonomous floor-cleaning robot can add water to the water inlet 12 through an autonomous water filling and drainage system, thereby completing autonomous water filling and sewage discharge and other actions.

[0035] The specific operation of the autonomous water filling and drainage system is as follows: water is drained into the clean water tank 4 through the autonomous water filling pipe 10, and whether the clean water is full is determined by detecting the state of the clean water tank 4 liquid level float switch; the clean water filter element 32 is used to filter the self-service water.

[0036] like Figure 1 to Figure 4As shown, the small autonomous floor-cleaning robot also includes an autonomous sewage discharge system, which includes a sewage discharge pipe 71 for conveying sewage, and a sewage discharge port 74 is provided at the end of the sewage discharge pipe 71; the autonomous sewage discharge system also includes a sewage discharge filter 75 connected to the sewage tank 3, a sewage discharge booster pump 72 connected to the sewage discharge filter 75, and a sewage discharge electric ball valve 73 provided on the sewage discharge pipe 71 for detecting whether the sewage liquid level state meets the sewage discharge conditions and discharges sewage. The sewage discharge booster pump 72 is used to absorb sewage, and a sewage liquid level upper limit float switch is provided in the sewage tank 3 to detect whether the liquid level state reaches the sewage upper limit. Specifically, the sewage discharge filter 75 in the sewage tank 3 is connected to the sewage discharge booster pump 72 through the sewage discharge pipe 71. When the sewage liquid level upper limit float switch is triggered, the valve of the sewage discharge electric ball valve 73 is opened, so that the sewage passes through the sewage discharge electric ball valve 73 and then is discharged through the sewage discharge port 74.

[0037] like Figure 1 to Figure 4 As shown, in the present invention, the small autonomous floor-cleaning robot also includes an autonomous charging device. At the same time, because the autonomous charging and drainage system and the autonomous charging device are provided, a clean water outlet tank, a sewage receiving tank, a charging docking brush plate, a QR code plate, a sewage outlet 74, a water inlet, a leakage circuit breaker, a power socket, a power switch button, an emergency stop button 14, etc. are provided accordingly. The above components are all conventional settings of the floor-cleaning robot and will not be described one by one here.

[0038] In the present invention, the small autonomous floor-cleaning robot also includes a safety obstacle avoidance system; the obstacle avoidance system includes a laser module for collecting images of the cleaning area, an ultrasonic sensor arranged on the body to detect obstacles, an electronic anti-collision strip arranged on the anti-collision guide wheel, etc.

[0039] like Figure 1 to Figure 4 As shown, the present invention adopts a double disc brush structure. In the present invention, the double disc brush 1 and the water absorption pad 2 can be lifted and lowered freely. The machine body is provided with a disc brush lifting mechanism for driving the disc brush 1 to be lifted and lowered stably and horizontally. The machine body is also provided with a water absorption pad lifting mechanism for driving the water absorption pad 2 to be lifted and lowered; the squeegee absorbs sewage. In the present invention, the chassis driving system includes a universal wheel 13 arranged in front of the traveling direction, and a left hub motor and a right hub motor 11 each with a two-drive differential arrangement.

[0040] In the present invention, the left hub motor and the right hub motor 11 are driving wheels; the left hub motor and the right hub motor 11 are used to drive the body to move or turn, and the left hub motor and the right hub motor 11 both use high-torque anti-skid hub motors with a diameter of 140 mm; the universal wheel 13 is made of polyurethane and has an anti-skid effect, which is more suitable for indoor scenes.

[0041] like Figure 1 to Figure 4As shown, in the present invention, two disc brushes 1 are arranged symmetrically with the front universal wheel 13 as the center; the disc brush 1 can be raised and lowered under the drive of the disc brush lifting mechanism.

[0042] In the present invention, Figure 1 to Figure 4 As shown, the water-absorbing member 2 of the small autonomous floor-cleaning robot is an arc-shaped structure that can swing left and right, and the left and right swing angle of the water-absorbing member 2 is 30 degrees; the water-absorbing member 2 can be raised and lowered under the drive of the water-absorbing member lifting mechanism, and two anti-collision guide wheels are arranged at both ends of the head of the water-absorbing member 2, and an adjustable universal wheel 13 is designed at the rear to adjust the height of the rubber of the water-absorbing member 2 pressing the ground.

[0043] The small autonomous floor-cleaning robot of the present invention further includes: electronic code visual navigation for positioning, a WIFI module and a 4G router for providing communication connection signals, an IMU for measuring the spatial coordinates and acceleration of the small autonomous floor-cleaning robot, a two-dimensional code camera for precise positioning and navigation at close range, and an ultrasonic sensor for scanning the path to avoid or bypass obstacles. The WIFI module, 4G router, IMU and two-dimensional code camera are communicatively connected to the industrial computer, and the ultrasonic sensor is communicatively connected to the embedded mainboard.

[0044] Embodiment 2:

[0045] This embodiment provides a control system for a small autonomous floor-cleaning robot. Figure 5 As shown, the control system includes:

[0046] A laser module for performing laser scanning to obtain an image of the cleaning area;

[0047] An industrial computer that communicates with the laser module;

[0048] An embedded mainboard that performs operation control based on information output by the industrial computer;

[0049] Multiple driving components connected to the embedded mainboard, and multiple execution components driven by the driving components, the action of the execution components can enable the small autonomous floor cleaning robot to perform operations such as walking, cleaning, autonomous charging, autonomous water addition, and autonomous sewage discharge; it also includes multiple relays connected to the embedded mainboard, and the multiple relays drive the valves or pump bodies to operate.

[0050] The driving components include: a chassis driving system for driving the machine body to move and turn, a left disc brush drive and a right disc brush drive for washing the floor, and a water suction motor for sucking out sewage; the chassis driving system includes a push rod drive for driving the machine body to move forward and backward and a hub motor for driving the machine body to turn.

[0051] The relays include: a relay for controlling a sprinkler valve, a relay for controlling a sewage filter pump, a relay for controlling a sewage filter valve, a relay for controlling a sewage pump, and a relay for controlling a sewage valve.

[0052] like Figure 5 As shown, the industrial computer establishes path planning through the image obtained by the laser module. After planning the path, the watering amount, the disk brush driving speed, and the water suction motor 54 speed are selected on the operation interface of the industrial computer, and then one-key start is performed. The small autonomous floor washing robot moves under the driving action of the chassis driving system and performs autonomous cleaning operations while walking;

[0053] like Figure 5 As shown, the control system also includes: an electronic code visual navigation system arranged on the body for performing terminal precise positioning, a WIFI module and a 4G router for providing communication connection signals, an IMU for measuring the spatial coordinates and acceleration of the small autonomous floor-cleaning robot, a two-dimensional code camera for precise positioning and navigation at close range, and an ultrasonic sensor for scanning the path to avoid or bypass obstacles; the WIFI module, 4G router, IMU and two-dimensional code camera are connected to the industrial computer for communication, and the ultrasonic sensor is connected to the embedded mainboard for communication; when the small autonomous floor-cleaning robot arrives about 1 meter before the charging and drainage station, it switches to the electronic code visual navigation system for precise positioning.

[0054] like Figure 5 As shown, the control system also includes an electronic anti-collision strip arranged on the body and a float switch for controlling the sewage water level and the clean water level. The float switch and the electronic anti-collision strip both communicate with the embedded mainboard and are controlled by the embedded mainboard.

[0055] The small autonomous floor-cleaning robot is controlled according to the following steps, as shown in S1 to S6:

[0056] S1: The small autonomous floor-cleaning robot acquires images through the laser SLAM module and performs positioning and path navigation planning;

[0057] S2: The industrial computer calculates the movement direction and speed according to the planned navigation path, and sends the left hub motor control / and right hub motor 11 control, water volume control, left disc brush motor / and right disc brush motor control, water suction motor 54 start control and speed control through RS232 communication according to the planned communication protocol;

[0058] S2-1: The embedded mainboard receives the speed command of the left hub motor / and the right hub motor 11 sent by the industrial computer through RS232 communication, and sends the driving wheel speed of the left hub motor / and the right hub motor 11 to the servo driver through the CAN bus; the servo driver controls the rotation of the left hub motor / and the right hub motor 11, and the servo driver uploads the odometer, speed, fault and other values ​​related to the hub motor to the embedded mainboard through CAN, and then the embedded mainboard uploads them to the industrial computer through RS232 as feedback;

[0059] S3: After the cleaning task is started, the industrial computer sends water volume control, left disc brush motor, right disc brush motor, water suction motor 54 start and speed instructions via RS232 communication;

[0060] S3-1: The embedded mainboard receives the corresponding command issued by the industrial computer through RS232 communication, and sends the start and speed data of the left disk brush motor and the right disk brush motor to the driver of the left disk brush motor and the right disk brush motor through RS232 communication, and then the driver of the left disk brush motor and the right disk brush motor controls the operation of the left disk brush motor and the right disk brush motor;

[0061] S3-2: The water volume is controlled by the embedded mainboard through the relay to control the switch of the sprinkler valve 8. After the clean water in the clean water tank 4 is filtered once by the clean water filter 32, it is connected to the sprinkler valve 8 by the clean water sprinkler pipe 3 and divided into two water paths for sprinkler. The sprinkled water is then rotated by the left brush motor and the right brush motor to clean the floor;

[0062] S3-3: During cleaning, the water suction motor 54 receives the pulse signal changed by the embedded mainboard through PWM and rotates at high speed. The suction force higher than 18KPA generated by the high-speed rotation of the water suction motor 54 is connected to the air outlet of the sewage tank 3 through the sewage suction pipe 55; the sewage generated by cleaning is collected by the water suction lever 2 and enters the sewage tank 3 through the sewage suction pipe 52. The sewage suction pipe 56 sprays the sewage into the sewage filter bag, and the garbage and large particles of sediment are filtered and collected through the filter bag;

[0063] S4: When the upper limit float switch of the sewage level in sewage tank 3 is triggered and the lower limit float switch of the clean water level in clean water tank 4 is triggered, the relevant status is collected by the embedded mainboard and uploaded to the industrial computer via RS232. The industrial computer makes corresponding decisions based on the information uploaded by the embedded mainboard and ends the cleaning task.

[0064] S5: After the cleaning task is completed, the small autonomous floor-cleaning robot starts to charge and add water and drain sewage autonomously. The robot navigation generates a path from the current point to the charging and draining station; the robot follows the path to the charging and draining station 1 meter in front of it, and switches to QR code visual navigation for terminal precise positioning navigation. When the robot completes docking with the charging and draining station, the WIFI module on the industrial computer actively establishes a TCP / IP connection with the WIFI module of the charging and draining station. When the communication is successful, the industrial computer issues autonomous charging, autonomous watering, autonomous draining and other functions; of course, the 1 meter here can also be other distances such as 0.8 meters or 1.1 meters, and the QR code can also be replaced by a barcode, etc.;

[0065] S5-1: When the embedded mainboard receives the autonomous charging instruction, the charging enable contactor is controlled by controlling the relay of the embedded mainboard. The charger in the charging and draining station detects the voltage on the brush board and then starts charging. When the power reaches the set value, the charging enable contactor is closed.

[0066] S5-2: When the charging and water filling and drainage station receives the autonomous water filling command, it opens the water inlet solenoid valve, and the tap water is injected into the robot water filling port 12 through the solenoid valve, and then flows through the water filling pipe 10 to drain the water into the clean water tank 4. When the embedded mainboard detects that the upper limit float switch of the clean water level in the clean water tank 4 is triggered, it is uploaded to the industrial computer, and then the industrial computer makes a decision to stop adding water, and sends a water stop command through WIFI communication. When the charging and water filling and drainage station receives the water stop command, it closes the solenoid valve, and the small autonomous floor washing robot is turned off and the charging and water filling and drainage tasks are completed;

[0067] S5-3: When the embedded mainboard receives the autonomous sewage discharge instruction, it controls the sewage discharge booster pump 72 and the sewage discharge electric ball valve 73 to open through the control relay, and the sewage in the sewage tank 3 flows through the sewage filter element 75 through the sewage discharge pipe 71, and then is pressurized by the sewage discharge booster pump 72 and discharged through the sewage discharge electric ball valve 73 through the sewage discharge port 74, and the sewage receiving tank of the charging and drainage station collects the sewage discharged by the small autonomous floor washing robot, and finally discharges the sewage to the designated area; when the embedded mainboard detects that the lower limit float switch of the sewage level in the sewage tank 3 is triggered, it is uploaded to the industrial computer, and then the industrial computer makes a decision to stop sewage discharge and sends a stop sewage discharge instruction to the embedded mainboard. After receiving the stop sewage discharge instruction, the embedded mainboard controls the sewage discharge booster pump 72 and the sewage discharge electric ball valve 73 to close through the control relay, and the small autonomous floor washing robot is closed and the sewage discharge task is completed.

[0068] S6: After autonomous charging, adding water and draining sewage, the small autonomous floor washing robot returns to the area where the floor washing work has not been completed according to the path navigation to continue to complete the subsequent floor washing work until the small autonomous floor washing robot completes all floor washing tasks. After that, it automatically navigates back to the initial position before the floor washing started in step S1 and starts the next floor washing task.

[0069] The specific embodiments described in this article are merely illustrative of the spirit of the present invention; technicians in the technical field to which the present invention belongs may make various modifications or additions to the described specific embodiments or replace them in a similar manner, but will not deviate from the spirit of the present invention or exceed the scope defined by the attached claims.

[0070] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0071] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A small autonomous floor-cleaning robot, comprising a body, a disc brush (1) for floor-cleaning, a water-absorbing pad (2) arranged behind the disc brush (1) for absorbing wastewater, and a chassis driving system for driving the body to move and turn, characterized in that: It also includes: a drainage system for spraying water on the ground, a sewage circulation filtration system for purifying sewage for recycling, and a control system, which is communicatively connected with each system; The sewage circulation filtration system comprises a sewage tank (3) and a clean water tank (4) arranged on the machine body; a sewage primary filter element (51) for initially filtering sewage is arranged in the sewage tank (3); a filter pump for filtering sewage again and sucking the filtered sewage into the clean water tank (4) is also arranged in the sewage tank (3); a circulation filter element for purifying sewage again is arranged in the clean water tank (4); The sewage recovered by the sewage tank (3) is filtered and recovered by the sewage primary filter element (51) and the filter pump, and then added to the clean water tank (4), and then filtered by the circulating filter element in the clean water tank (4) and recycled; The sewage tank (3) is also provided with a sewage liquid level upper limit float switch for detecting whether the liquid level has reached the sewage upper limit; the circulating filter element comprises: a circulating filter primary filter element (15) and a circulating filter secondary filter element (16); The water supply and drainage system comprises: a water injection pipe (10) for injecting water into the clean water tank (4), a clean water filter element (32) for filtering the water injected by the water injection pipe (10), and a float switch for detecting the upper and lower limit water levels in the clean water tank (4); The invention also comprises an autonomous sewage discharge system, which comprises: a sewage discharge filter element (75), a sewage discharge booster pump (72) and a sewage discharge pipe (71). The sewage in the sewage tank (3) is filtered by the sewage discharge filter element (75), pressurized by the sewage discharge booster pump (72) and discharged from the sewage discharge pipe (71). The invention also comprises a sewage discharge electric ball valve (73) for detecting whether the sewage liquid level reaches the sewage discharge condition.

2. The small autonomous floor-cleaning robot according to claim 1, characterized in that: The chassis driving system comprises: a universal wheel (13) located in front of the traveling direction, and driving wheels located in front of the traveling direction and distributed on the left and right sides, wherein the driving wheels are differentially driven by wheel hub motors.

3. The small autonomous floor-cleaning robot according to claim 1, characterized in that: The disc brushes (1) have two parts, which are symmetrically distributed along the center line of the chassis; the disc brushes (1) are raised and lowered under the drive of the disc brush lifting mechanism; the water absorption pad (2) is an arc-shaped structure that swings left and right, and the water absorption pad (2) is raised and lowered under the drive of the water absorption pad lifting mechanism.

4. The small autonomous floor-cleaning robot according to claim 1, characterized in that: Also includes: Electronic code visual navigation for positioning, WIFI module and 4G router for providing communication connection signals, IMU for measuring the spatial coordinates and acceleration of the small autonomous floor washing robot, QR code camera for precise positioning and navigation at close range, and ultrasonic sensor for scanning the path to avoid or bypass obstacles. The WIFI module, 4G router, IMU and QR code camera are communicatively connected to the industrial computer, and the ultrasonic sensor is communicatively connected to the embedded mainboard.

5. The small autonomous floor-cleaning robot according to claim 1, characterized in that: It also includes a safety obstacle avoidance system; the obstacle avoidance system includes: a laser module for collecting images of the cleaning area, an ultrasonic sensor set on the body to detect obstacles, and an electronic anti-collision strip.

Images