A floor washing machine

Abstract

The present invention discloses a floor scrubber, comprising: a chassis; a housing, which is mounted above the front of the chassis; a walking device, comprising a single front wheel mounted below the front of the chassis, two rear wheels mounted below the rear of the chassis, a steering mechanism for driving the front wheels to steer, and a walking drive device for driving the chassis to walk; a floor scrubber, which comprises a water receiving mechanism connected to a clean water tank, a clean water tank on the chassis, and a sewage tank located at the rear of the chassis; an energy supply device, which comprises a battery and a power receiving mechanism, the power receiving mechanism being mounted at the front of the housing, and the power receiving mechanism being used to charge the battery; a sensing device, which comprises a first image acquisition mechanism and a first distance detection mechanism mounted at the rear of the sewage tank; and a control device, which is electrically connected to the sensing device and the walking drive device, respectively. In the present invention, it is convenient to align the power receiving mechanism with the charging mechanism to charge the battery; at the same time, it is convenient to align the water receiving mechanism with the water adding mechanism, thereby increasing the effective working time of the floor scrubber.

Description

Technical Field

[0001] The present invention relates to the technical field of floor scrubbers, and in particular to a floor scrubber. Background Art

[0002] In recent years, labor costs have been rising year by year, resulting in rising costs for property cleaning. In order to improve the quality of cleaning and enhance the sense of technology in high-end places, more and more unmanned floor scrubbers are being used. Unmanned floor scrubbers need to be charged and watered autonomously, and the charging and watering processes require high docking accuracy to ensure accurate docking with the service station. Summary of the invention

[0003] Based on this, an object of the present invention is to provide a floor scrubber with high replenishment and docking accuracy.

[0004] A floor scrubber comprises: a chassis; a shell, the shell being mounted above the front of the chassis; a walking device, comprising a single front wheel mounted below the front of the chassis, two rear wheels mounted below the rear of the chassis, a steering mechanism for driving the front wheel to steer, and a walking drive device for driving the front wheel or the rear wheel to walk, the front wheel being a steering wheel, and the steering mechanism being accommodated in the shell; a floor scrubber, the floor scrubber comprising a water receiving mechanism, a clean water supply mechanism for sprinkling water on the ground, a disc brush mechanism for scrubbing the sprinkling ground, and a sewage suction mechanism for absorbing sewage from the ground, the clean water supply mechanism comprising a clean water tank mounted above the chassis, and the sewage suction mechanism comprising a A sewage tank, the water receiving mechanism is connected to the clean water tank, and an installation area for accommodating the water receiving mechanism is provided at the rear of the sewage tank; an energy supply device, the energy supply device includes a battery and a power receiving mechanism, the power receiving mechanism is installed at the front of the shell, and the power receiving mechanism is used to charge the battery; a sensing device, the sensing device includes a first image acquisition mechanism and a first distance detection mechanism installed at the rear of the sewage tank; a control device, the control device is electrically connected to the sensing device and the walking drive device respectively, and can control the walking device to drive the water receiving mechanism to align with the water adding mechanism of the service station according to the image information collected by the first image acquisition mechanism and the distance information detected by the first distance detection mechanism.

[0005] In the present invention, the walking device under the chassis adopts a three-wheel structure, and the front wheel is a steering wheel. By installing the power receiving mechanism at the front of the floor scrubber, the high forward accuracy of the three-wheel structure is used to ensure the precise alignment of the power receiving mechanism and the charging mechanism of the service station; at the same time, the first image acquisition mechanism and the first distance detection mechanism are used to compensate for the low backward accuracy of the three-wheel structure, so as to ensure the precise alignment of the water receiving mechanism and the water adding mechanism of the service station.

[0006] Preferably, the power receiving mechanism is located at the upper part of the front end of the shell, and the water receiving mechanism is located at the lower part of the rear end of the sewage tank; or the power receiving mechanism is located at the lower part of the front end of the shell, and the water receiving mechanism is located at the upper part of the rear end of the sewage tank.

[0007] Preferably, the steering mechanism includes a steering motor and an automatic steering transmission assembly, the steering motor is connected to the front wheel transmission through the automatic steering transmission assembly, the sensing device also includes a second distance detection mechanism and a second image acquisition mechanism installed on the front part of the vehicle body, and the control device can control the walking device to drive the power receiving mechanism to align with the charging mechanism of the service station according to the distance information collected by the second distance detection mechanism and the image information collected by the second image acquisition mechanism.

[0008] Preferably, the steering mechanism further comprises a steering wheel and a manual steering transmission assembly, the steering wheel is connected to the front wheel through the manual steering transmission assembly, the steering wheel is located above the housing, and the manual steering transmission assembly is accommodated in the housing.

[0009] Preferably, the power receiving mechanism includes an electrode sheet, a position sensing component and a charging circuit connecting the electrode sheet and the battery. The control device is electrically connected to the position sensing component. When the charging mechanism of the service station contacts the electrode sheet, the position sensing component sends a position signal to the control device.

[0010] Preferably, the front portion of the shell is concave backward to form a power receiving docking area, and the power receiving docking area is provided with guiding inclined surfaces on both sides perpendicular to the running direction of the chassis, and the electrode sheet is arranged at the bottom of the power receiving docking area.

[0011] Preferably, the in-place sensing component includes a trigger rod and an in-place sensing sensor electrically connected to the control device, and the trigger rod is arranged in the power receiving docking area, so that when the charging mechanism of the service station enters the power receiving docking area, the trigger rod is pushed to move to the in-place sensing sensor, so that the in-place sensing sensor senses the trigger rod.

[0012] Preferably, the water receiving mechanism includes a water receiving box, a water inlet pipe and a valve body assembly, the water inlet pipe connects the water receiving box and the clean water tank, a water replenishment docking port is provided on the rear side wall of the water receiving box, the water replenishment docking port extends in a direction perpendicular to the walking direction of the chassis, the valve body assembly is installed at the water inlet of the clean water tank, and the valve body assembly can be opened unidirectionally toward the clean water tank under the action of water pressure.

[0013] Preferably, the valve body assembly includes a valve body, a pressure rod and a flap that pass through the upper and lower parts, the water inlet pipe is connected to the upper end of the valve body, the valve body is installed at the water inlet of the clean water tank, the lower end face of the valve body is inclined, the flap is rotatably connected to the higher side of the lower end face of the valve body, the pressure rod includes a rotating part, a rod body part and a pressure block part, the rotating part is rotatably connected to the higher side of the lower end face of the valve body, the rod body part is located on one side of the rotating part, the pressure block part is located on the other side of the rotating part and partially wraps the rotating part, the rod body part abuts against the lower surface of the flap under the action of the gravity of the pressure block part to drive the flap to seal the lower end of the valve body.

[0014] Preferably, the first image acquisition mechanism and the first distance detection mechanism are located above the water replenishment interface.

[0015] Preferably, the sewage suction mechanism also includes a negative pressure component located above the sewage tank, which can generate negative pressure in the sewage tank. The negative pressure component is rotatably connected to the sewage tank. A bracket spanning the negative pressure component is provided above the sewage tank, and a three-dimensional laser radar is provided on the bracket.

[0016] Compared with the prior art, the charging docking and water adding docking of the floor scrubber of the present invention are more precise and accurate, which can increase the effective working time of the floor scrubber, facilitate unmanned control of the floor scrubber, and has high practicality.

[0017] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of an embodiment of the present invention;

[0019] Figure 2 A three-dimensional diagram from another perspective of an embodiment of the present invention;

[0020] Figure 3 It is a front view of the floor scrubber in the present invention;

[0021] Figure 4 This is a rear view of the floor scrubber in the present invention;

[0022] Figure 5 It is a schematic diagram of the relationship between the charging mechanism and the power receiving mechanism in the present invention;

[0023] Figure 6 for Figure 5 A large picture is posted at center A;

[0024] Figure 7 It is a structural schematic diagram of the water receiving mechanism in the present invention;

[0025] Figure 8 It is a structural schematic diagram of the steering mechanism in the present invention.

[0026] Figure numerals: 100, charging mechanism; 200, water adding mechanism; 1, chassis; 2, shell; 21, power receiving docking area; 22, guide slope; 3, walking device; 31, front wheel; 32, rear wheel; 33, front wheel frame; 4, floor washing device; 41, water receiving mechanism; 411, water receiving box; 4111, water supply docking port; 412, water inlet pipe; 413, valve body assembly; 4131, valve body; 4132, pressure rod; 4133, flap; 42, clean water supply mechanism; 421, clean water tank; 43, disc brush mechanism; 44, sewage suction mechanism; 441, sewage tank; 442, squeegee; 4 43. Sewage suction pipe; 5. Energy supply device; 51. Power receiving mechanism; 511. Electrode sheet; 512. Trigger rod; 513. In-position sensing sensor; 6. Sensing device; 61. First image acquisition mechanism; 62. First distance detection mechanism; 63. Second image acquisition mechanism; 64. Second distance detection mechanism; 7. Bracket; 71. Three-dimensional laser radar; 8. Steering mechanism; 81. Steering motor; 82. Automatic steering transmission assembly; 83. Steering wheel; 84. Manual steering transmission assembly; 841. Transmission rod; 842. Bearing seat; 843. Manual steering transmission member; 85. Slewing bearing. DETAILED DESCRIPTION

[0027] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to their structure and are relative concepts. Therefore, they may change accordingly according to their different locations and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms.

[0028] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of embodiments consistent with some aspects of the present disclosure.

[0029] The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. The singular forms of "a", "the" and "the" used in this disclosure are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0030] like Figures 1 to 7 As shown, the present invention relates to a floor scrubber, comprising:

[0031] A chassis 1; a shell 2, wherein the shell 2 is mounted above the front of the chassis 1; a traveling device 3, comprising a single front wheel 31 mounted below the front of the chassis 1, two rear wheels 32 mounted below the rear of the chassis 1, a steering mechanism 8 for driving the front wheel 31 to steer, and a traveling drive device for driving the front wheel 31 or the rear wheel 32 to travel, wherein the front wheel 31 is a steering wheel, and the steering mechanism 8 is accommodated in the shell 2; a floor scrubbing device 4, wherein the floor scrubbing device 4 comprises a water receiving mechanism 41, a clean water supply mechanism 42 for sprinkling water on the ground, a disc brush mechanism 43 for scrubbing the sprinkling ground, and a sewage suction mechanism 44 for absorbing sewage from the ground, wherein the clean water supply mechanism 42 comprises a clean water tank 421 mounted above the chassis 1, and the sewage suction mechanism 44 comprises a sewage tank 441 located above the clean water tank 421 and located at the rear of the chassis 1, and the water receiving mechanism 41 and the clean water tank 42 are connected. 1 is connected, and the rear part of the sewage tank 441 is provided with an installation area for accommodating the water receiving mechanism 41; the energy supply device 5, the energy supply device 5 includes a battery and a power receiving mechanism 51, the power receiving mechanism 51 is installed at the front part of the housing 2, and the power receiving mechanism 51 is used to charge the battery; the sensing device 6, the sensing device 6 includes a first image acquisition mechanism 61 and a first distance detection mechanism 62 installed at the rear part of the sewage tank 441; the control device, the control device is electrically connected to the sensing device 6 and the walking drive device respectively, and can control the walking device 3 to drive the water receiving mechanism 41 to align with the water adding mechanism 200 of the service station according to the image information collected by the first image acquisition mechanism 61 and the distance information detected by the first distance detection mechanism 62. Specifically, the first image acquisition mechanism 61 is a binocular camera, and the first distance detection mechanism 62 is an ultrasonic sensor. In some embodiments, a QR code is set on the service station, and the binocular camera can determine the current position of the floor scrubber according to the collected QR code information. In some embodiments, the first image acquisition mechanism 61 includes at least two binocular cameras arranged one above the other, one of which is used to detect obstacles at a high position behind the vehicle by image detection when backing up, and the other binocular camera is used to detect obstacles at a low position behind the vehicle when backing up. In some embodiments, the first distance detection mechanism 62 includes at least two ultrasonic sensors arranged one above the other, one of which is used to detect obstacles at a high position behind the vehicle by distance detection when backing up, and the other ultrasonic sensor is used to detect obstacles at a low position behind the vehicle when backing up.

[0032] In this embodiment, the walking device 3 under the chassis 1 adopts a three-wheel structure, and the front wheel 31 is a steering wheel. In some embodiments, the front wheel 31 is a steering wheel integrating steering and walking functions. The three-wheel structure has high forward accuracy, but low reverse accuracy. In this embodiment, by installing the power receiving mechanism 51 at the front of the floor scrubber, with the help of the navigation device, the high forward accuracy of the three-wheel structure is used to ensure the alignment accuracy between the power receiving mechanism 51 and the charging mechanism 100 of the service station; at the same time, the image information and distance information collected by the first image acquisition mechanism 61 and the first distance detection mechanism 62 make up for the defect of low reverse accuracy of the three-wheel structure, so as to ensure the alignment accuracy between the water receiving mechanism 41 and the water adding mechanism 200.

[0033] Specifically, the clean water supply mechanism 42 includes a clean water pipe and a nozzle. The clean water pipe connects the clean water tank 421 and the nozzle. The nozzle is located below the chassis 1 to supply clean water to the ground. The disc brush mechanism 43 includes a disc brush motor and a disc brush body arranged below the chassis 1. The disc brush motor is used to drive the disc brush body to rotate to brush the ground.

[0034] In this embodiment, the power receiving mechanism 51 is located at the upper part of the front end of the housing 2, and the water receiving mechanism 41 is located at the lower part of the rear end of the sewage tank 441; or the power receiving mechanism 51 is located at the lower part of the front end of the housing 2, and the water receiving mechanism 41 is located at the upper part of the rear end of the sewage tank 441. That is, the power receiving mechanism 51 and the water receiving mechanism 41 are arranged alternately up and down.

[0035] Since the power receiving mechanism 51 and the water receiving mechanism 41 are arranged in an alternating manner, it is convenient to integrate the charging mechanism 100 and the water adding mechanism 200 in one service station. Compared with the method of separately arranging the power receiving mechanism 51 and the water receiving mechanism 41, the number of installation positions required by the service station can be reduced. Preferably, the power receiving mechanism 51 is arranged at the upper front end of the floor scrubber, and the water receiving mechanism 41 is arranged at the lower rear end of the floor scrubber, so that the charging mechanism 100 and the water adding mechanism 200 are arranged at the upper and lower parts of the service station respectively, thereby preventing water from the water adding mechanism 200 from leaking to the charging mechanism 100, ensuring safety.

[0036] In this embodiment, the steering mechanism 8 includes a steering motor 81 and an automatic steering transmission assembly 82. The steering motor 81 is connected to the front wheel 31 through the automatic steering transmission assembly 82. The sensing device 6 also includes a second distance detection mechanism 64 and a second image acquisition mechanism 63 installed on the front part of the vehicle body. The control device can control the walking device 3 to drive the power receiving mechanism 51 to align with the charging mechanism 100 of the service station according to the distance information collected by the second distance detection mechanism 64 and the image information collected by the second image acquisition mechanism 63. Specifically, the second distance detection mechanism 64 is an ultrasonic sensor, and the second image acquisition mechanism 63 is a binocular camera.

[0037] The floor scrubber is adjusted by the steering motor 81 and the travel drive device, and the second distance detection mechanism 64 and the second image acquisition mechanism 63 are used to precisely adjust the position of the floor scrubber, so as to further improve the precise alignment of the power receiving mechanism 51 and the charging mechanism 100.

[0038] The steering mechanism 8 also includes a steering wheel 83 and a manual steering transmission assembly 84. The steering wheel 83 is connected to the front wheel 31 through the manual steering transmission assembly 84. The steering wheel 83 is located above the shell 2, and the manual steering transmission assembly 84 is accommodated in the shell 2, so as to integrate manual driving and automatic driving into the floor scrubber, so that manual driving can take over in certain special cleaning areas or when the automatic driving fails.

[0039] Combination Figure 8 As shown, the walking device 3 also includes a front wheel frame 33, the front wheel 31 is installed at the lower part of the front wheel frame 33, a slewing bearing 85 is connected to the lower part of the chassis 1, the outer periphery of the slewing bearing 85 is provided with meshing teeth, the inner ring of the slewing bearing 85 is fixed to the lower part of the chassis 1 by screws, and the upper part of the front wheel frame 33 is fixed to the outer ring of the slewing bearing 85 by screws. During automatic steering, the steering motor 8 drives the outer ring of the slewing bearing 85 to rotate through the automatic steering transmission assembly 82. During manual steering, the steering wheel 83 drives the outer ring of the slewing bearing 85 to rotate through the manual steering assembly 84, thereby driving the front wheel 31 to steer.

[0040] Specifically, the manual steering assembly 84 includes a transmission rod 841, a bearing seat 842 and a manual steering transmission member 843, the manual steering transmission member 843 is a gear, the bearing seat 842 is fixed to the upper part of the chassis 1, the upper end of the transmission rod 841 is connected to the steering wheel 83, the lower part of which is rotatably connected to the bearing seat 842, and the lower end of the transmission rod 841 passes through the bottom of the chassis 1, and the lower end of the transmission rod 841 is connected to the manual steering transmission member 843, and the manual steering transmission member 843 is meshed with the slewing bearing 85; the automatic steering transmission assembly 82 is a gear, and it is arranged under the chassis 1 and meshed with the manual steering transmission member 843. The automatic steering transmission assembly 82 can also be a sprocket chain assembly or a belt pulley assembly.

[0041] In this embodiment, the power receiving mechanism 51 includes an electrode sheet 511, a position sensing component, and a charging circuit connecting the electrode sheet 511 and the battery. The control device is electrically connected to the position sensing component. When the charging mechanism 100 of the service station contacts the electrode sheet 511, the position sensing component sends a position signal to the control device to ensure smooth docking of the power receiving mechanism 51 and the charging mechanism 100.

[0042] The front part of the shell 2 is concave backward to form a power receiving docking area 21 . The power receiving docking area 21 is provided with guide slopes 22 on both sides perpendicular to the running direction of the chassis 1 . The electrode sheet 511 is arranged at the bottom of the power receiving docking area 21 .

[0043] By setting the guiding slope 22, when the scrubber approaches the charging mechanism 100, the charging mechanism 100 can slide along the guiding slope 22 to the bottom of the power receiving docking area 21, so that the docking of the two is easier, ensuring the smooth charging of the scrubber.

[0044] The in-place sensing component includes a trigger rod 512 and an in-place sensing sensor 513 electrically connected to the control device. The in-place sensing sensor 513 is a photoelectric sensor. The trigger rod 512 is arranged at the bottom of the power receiving docking area 21 and can move along the walking direction of the chassis 1, so that when the charging mechanism 100 of the service station enters the power receiving docking area 21, the trigger rod 512 is pushed to move to the outside of the in-place sensing sensor 513, so that the in-place sensing sensor 513 senses the trigger rod 512 to send an in-place signal. A return spring is provided between the trigger rod 512 and the shell 2, so that when the charging mechanism 100 is separated from the power receiving mechanism 51, the return spring drives the trigger rod 512 to reset.

[0045] In this embodiment, the water receiving mechanism 41 includes a water receiving box 411, a water inlet pipe 412 and a valve body assembly 413. The water inlet pipe 412 connects the water receiving box 411 and the clean water tank 421. A water replenishment interface 4111 is provided on the rear side wall of the water receiving box 411. The water replenishment interface 4111 extends in a direction perpendicular to the walking direction of the chassis 1, thereby increasing the fault tolerance of the water receiving mechanism 41 and the water adding mechanism 200, ensuring smooth docking of the water receiving mechanism 41 and the water adding mechanism 200. The valve body assembly 413 is installed at the water inlet of the clean water tank 421. The valve body assembly 413 can be opened unidirectionally toward the clean water tank 421 under the action of water pressure, so that during the operation of the floor scrubber, the water in the clean water tank 421 will not swing out from the water inlet.

[0046] The valve body assembly 413 includes a valve body 4131, a pressure rod 4132 and a flap 4133 that pass through the upper and lower parts. The water inlet pipe 412 is connected to the upper end of the valve body 4131. The valve body 4131 is installed in the water inlet of the clean water tank 421. The lower end face of the valve body 4131 is inclined. The flap 4133 is hinged to the side where the lower end face of the valve body 4131 is higher. The pressure rod 4132 includes a rotating part, a rod body part and a pressure block part. The rotating part is rotatably connected to the side where the lower end face of the valve body 4313 is higher. The rod body part is located on one side of the rotating part, and the pressure block part is located on the other side of the rotating part and partially wraps the rotating part. The entire pressure rod forms a lever structure, and the rod body abuts against the lower surface of the flap 4133 under the gravity of the pressure block, so as to drive the other end of the flap 4133 to flip upward to block the lower end of the valve body 4131, so as to block the lower end of the valve body 4131 when there is no water pressure in the valve body 4131, thereby ensuring that the water in the clean water tank 421 does not spill out. When water enters the valve body 4313, the gravity of the water overcomes the abutment force generated by the pressure block through the rod body, so that the flap 4133 flips downward to open, ensuring that the clean water tank 421 normally enters the water.

[0047] In this embodiment, the first image acquisition mechanism 61 and the first distance detection mechanism 62 are located above the water replenishment interface 4111 to prevent water from splashing onto the first distance detection mechanism 62 and the first image acquisition mechanism 61 during the water adding process, and at the same time, the acquisition range of the first image acquisition mechanism 61 is increased.

[0048] In this embodiment, the sewage suction mechanism 44 also includes a negative pressure component located above the sewage tank 441, the negative pressure component can generate negative pressure in the sewage tank 441, the negative pressure component is rotatably connected to the sewage tank 441, and the negative pressure component is specifically a sewage suction motor connected to the sewage tank 441. A bracket 7 spanning the negative pressure component is provided above the sewage tank 441, and a three-dimensional laser radar 71 is provided on the bracket 7. The negative pressure component includes a motor housing and a sewage suction motor installed in the motor housing, and the motor housing is rotatably connected to the sewage tank.

[0049] Connecting the three-dimensional laser radar 71 to the sewage tank 441 through the bracket 7 can avoid the vibration of the negative pressure component during operation from affecting the three-dimensional laser radar 71 and affecting the precise positioning of the floor scrubber, compared with directly installing the three-dimensional laser radar 71 on the motor housing.

[0050] The sewage suction mechanism 44 also includes a squeegee 442 and a sewage suction pipe 443. The squeegee 442 is installed at the rear of the chassis 1. The sewage suction pipe 443 connects the squeegee 442 and the sewage tank 441 so that when the sewage suction motor is working, negative pressure is generated in the sewage tank 441, and the sewage in the squeegee 442 is sucked into the sewage tank 441 through the sewage suction pipe 443.

[0051] In summary, compared with the prior art, the charging docking and water adding docking of the floor scrubber of the present invention are more accurate, the docking is more precise, the effective working time of the floor scrubber can be increased, unmanned control of the floor scrubber can be realized, and the practicality is high.

[0052] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A floor scrubber, characterized in that: include: Chassis; a housing mounted above the front portion of the chassis; A traveling device, comprising a single front wheel installed below the front part of the chassis, two rear wheels installed below the rear part of the chassis, a steering mechanism driving the front wheel to steer, and a traveling driving device driving the front wheel or the rear wheel to travel, wherein the front wheel is a steering wheel and the steering mechanism is accommodated in the housing; A floor scrubber, the floor scrubber comprising a water receiving mechanism, a clean water supply mechanism for sprinkling water on the floor, a disc brush mechanism for scrubbing the sprinkling floor, and a sewage suction mechanism for absorbing sewage from the floor, the clean water supply mechanism comprising a clean water tank installed above the chassis, the sewage suction mechanism comprising a sewage tank located above the clean water tank and at the rear of the chassis, the water receiving mechanism being in communication with the clean water tank, and a mounting area for accommodating the water receiving mechanism being provided at the rear of the sewage tank; A power supply device, the power supply device comprising a battery and a power receiving mechanism, the power receiving mechanism being mounted on the front of the housing and being used to charge the battery; A sensing device, the sensing device comprising a first image acquisition mechanism and a first distance detection mechanism installed at the rear of the sewage tank; A control device, the control device being electrically connected to the sensing device and the travel drive device respectively, and being capable of controlling the travel device to drive the water receiving mechanism to align with the water adding mechanism of the service station according to the image information collected by the first image acquisition mechanism and the distance information detected by the first distance detection mechanism; The sensing device further includes a second distance detection mechanism and a second image acquisition mechanism installed at the front of the vehicle body, and the control device can control the walking device to drive the power receiving mechanism to align with the charging mechanism of the service station according to the distance information collected by the second distance detection mechanism and the image information collected by the second image acquisition mechanism; The power receiving mechanism is located at the upper part of the front end of the shell, and the water receiving mechanism is located at the lower part of the rear end of the sewage tank; or the power receiving mechanism is located at the lower part of the front end of the shell, and the water receiving mechanism is located at the upper part of the rear end of the sewage tank; The sewage suction mechanism also includes a negative pressure component located above the sewage tank, which can generate negative pressure in the sewage tank. The negative pressure component is rotatably connected to the sewage tank. A bracket spanning the negative pressure component is provided above the sewage tank, and a three-dimensional laser radar is provided on the bracket. The bracket is located in front of the sewage tank.

2. The floor scrubber according to claim 1, characterized in that: The steering mechanism comprises a steering motor and an automatic steering transmission assembly, and the steering motor is transmission-connected to the front wheels via the automatic steering transmission assembly.

3. The floor scrubber according to claim 2, characterized in that: The steering mechanism also includes a steering wheel and a manual steering transmission assembly. The steering wheel is connected to the front wheels through the manual steering transmission assembly. The steering wheel is located above the housing, and the manual steering transmission assembly is accommodated in the housing.

4. The floor scrubber according to claim 1, characterized in that: The power receiving mechanism includes an electrode sheet, a position sensing component and a charging circuit connecting the electrode sheet and the battery. The control device is electrically connected to the position sensing component. When the charging mechanism of the service station contacts the electrode sheet, the position sensing component sends a position signal to the control device.

5. The floor scrubber according to claim 4, characterized in that: The front part of the shell is concave backward to form a power receiving docking area. The power receiving docking area is provided with guiding inclined surfaces on both sides perpendicular to the running direction of the chassis. The electrode sheet is arranged at the bottom of the power receiving docking area.

6. The floor scrubber according to claim 4, characterized in that: The in-place sensing assembly includes a trigger rod and an in-place sensing sensor electrically connected to the control device. The trigger rod is arranged in the power receiving docking area, so that when the charging mechanism of the service station enters the power receiving docking area, the trigger rod is pushed to move to the in-place sensing sensor, so that the in-place sensing sensor senses the trigger rod.

7. The floor scrubber according to claim 1, characterized in that: The water receiving mechanism includes a water receiving box, a water inlet pipe and a valve body assembly. The water inlet pipe connects the water receiving box and the clean water tank. A water replenishment interface is arranged on the rear side wall of the water receiving box. The water replenishment interface extends in a direction perpendicular to the walking direction of the chassis. The valve body assembly is installed at the water inlet of the clean water tank. The valve body assembly can be opened unidirectionally toward the clean water tank under the action of water pressure.

8. The floor scrubber according to claim 7, characterized in that: The closure of the valve body is of the type described in claim 1, wherein the closure of the valve body is located adjacent to the closure of the valve body and the closure of the valve body is located adjacent to the closure of the valve body.

9. The floor scrubber according to claim 7, characterized in that: The first image acquisition mechanism and the first distance detection mechanism are located above the water replenishment interface.

Images