Water adding and draining system and method of auxiliary floor washing robot

Abstract

The invention relates to a water adding and draining system and method for assisting a floor washing robot, and belongs to the technical field of floor washing robots, and the method comprises the following operation steps: 1, when it is detected that the floor washing robot is in a task execution state, the system starts a sewage suction module firstly; and 2, starting a clear water discharge module. 3, in the operation process of the water circulation module, if a water circulation error report occurs, the system notifies a client to process; and if the water circulation is normal, returning to waterway monitoring, and continuously monitoring the waterway state. Fourthly, if the floor washing robot is not in the task state, the system can further judge whether the sewage tank is in the low liquid level or not, and if the liquid level of the sewage tank is high, a base station sewage discharging module is started; and if the liquid level of the clear water tank is not high, entering the base station water adding module. The device has the advantages of simple structure and good operation stability. By monitoring the waterways of all the modules of the unmanned floor washing robot, the problem that the waterways are difficult to effectively monitor by the unmanned floor washing robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of floor-cleaning robots, and in particular to a drainage system and method for assisting floor-cleaning robots. Background Art

[0002] With the continuous advancement of technology, unmanned floor washing robots have become the choice of more and more users due to their good cleaning efficiency and quality, as well as intelligent management, all-weather operation, and low cost.

[0003] Indoor floor cleaning robots require a large amount of clean water to moisten the floor before cleaning operations, and need to recycle the wastewater after cleaning operations. Therefore, indoor floor cleaning robots need to have a large amount of space to store the clean water before cleaning operations and the wastewater after cleaning operations, and need to change the water frequently.

[0004] However, it is difficult for unmanned floor-cleaning robots to effectively monitor the waterway, which affects the cleaning effect and performance of the robot, and has become a major drawback. Summary of the Invention

[0005] This invention primarily addresses the shortcomings of the existing technology by providing a drainage system and method for an auxiliary floor-cleaning robot, which boasts a simple structure and excellent operational stability. By monitoring the waterways of each module of an unmanned floor-cleaning robot, this system overcomes the difficulty of effectively monitoring these waterways. This system enables precise treatment and monitoring of wastewater and clean water, as well as timely handling of abnormalities. This effectively enhances the automation and reliability of the liquid handling system, providing strong support for the stable operation of related equipment or systems.

[0006] The above technical problems of the present invention are mainly solved by the following technical solutions:

[0007] A water supply and drainage system and method for assisting a floor-cleaning robot. The water supply and drainage system includes a clean water float level, a clean water valve, a pump, a sewage pump, and various water path sub-modules; the various water path sub-modules include module 1, module 2, module 3, module 4, and module 5. Module 1 is a water circulation module, module 2 is a clean water discharge module, module 3 is a sewage suction module, module 4 is a base station water supply module, and module 5 is a base station sewage discharge module.

[0008] The drainage method includes the following steps:

[0009] Step 1: When the robot scrubber is detected to be in the task execution state, the system will first start the sewage suction module; during the operation of the sewage suction module, if the sewage module alarms "the sewage tank liquid level is too high" and if the clean water tank is also at a high liquid level, the system will enter the base station sewage discharge module; if the clean water tank level is not high, the system will enter the water circulation module; if the sewage module alarms "sewage suction error", the customer will be notified to handle it.

[0010] Step 2: Start the clean water discharge module. During the operation of the clean water discharge module, if the clean water discharge module alarms "low clean water level" and if the sewage tank is also at a low level, the system enters the base station water addition module; if the sewage tank level is not low, the system enters the water circulation module; if the sewage module alarms "abnormal clean water flow", the customer is notified to handle it.

[0011] Step 3: During the operation of the water circulation module, if an error message "water circulation error" appears, the system will notify the customer to handle it; if the water circulation is normal, it will return to the water channel monitoring and continue to monitor the water channel status; since the water circulation module is not an essential module, when a water circulation error occurs, the system can pause the task and enter the base station water addition module or the base station drainage module to ensure that the system continues to operate.

[0012] Step 4: When the robot is not in a task, the system further determines whether the wastewater tank is at a low level. If the level is high, the base station's sewage discharge module is activated; if the level is low, the base station's water supply module is activated. This logic allows the system to properly schedule sewage discharge and water supply operations, ensuring that the robot maintains a normal water balance in the water system before and between tasks.

[0013] As a preference, the flow rate is determined by formula 1:

[0014] Q 工作流量 =(V 液位1 -V 液位2 ) / T 工作时间 .

[0015] Liquid level calculation is performed using Formula 2:

[0016] V 计算液位 =Q 标定流量 *T 工作时间 .

[0017] The current operating flow rate is calculated by dividing the volume difference between adjacent liquid level sensors by the time difference between the adjacent liquid level sensors. In actual applications, the flow rates of the system submodules are calibrated to upper and lower limits, and compared with the calculated flow rate values ​​under the vehicle's operating state. If the calibrated upper and lower limits are exceeded, an early alarm is issued. Since the actual system adjacent liquid level difference is fixed, the operating time is calibrated to reduce the difficulty of actual application.

[0018] Since the number of level floats is limited, in many cases the liquid level may be between the two float levels. Therefore, it is necessary to estimate the liquid level using Formula 2. 液位1 or V 液位2 Replaced by V 计算液位 Used to calculate Q 工作流量 To determine whether there is an abnormality.

[0019] Preferably, after the water circulation module receives the start command of the water circulation, if the liquid level in the sewage tank has not reached the low liquid level, the water circulation is ended; if the liquid level in the clean water tank has reached the high liquid level, the water circulation is ended.

[0020] Preferably, if the sewage level is higher than the low level and the clean water tank level is lower than the low level, the water circulation is activated. Since the clean water tank and sewage tank of a vehicle have fixed volumes, and the sewage tank and clean water tank levels also have a fixed volume difference, the time it takes for the sewage tank level to change from high to low, or the time it takes for the clean water tank level to change, is used to determine whether the water circulation flow is normal. If any flow abnormality occurs, an alarm is issued in advance.

[0021] Preferably, the clean water discharge module receives a clean water discharge command. If the clean water is lower than the low liquid level, a low liquid level alarm is triggered; if the clean water is higher than the low liquid level, the clean water discharge is started, and the time for the clean water tank liquid level change is calculated to determine whether the clean water discharge flow is normal. If the flow is abnormal, an alarm is triggered in advance.

[0022] Preferably, when the sewage suction module receives a command to suck sewage, if the sewage tank is below the high liquid level, it starts sucking sewage and calculates the time for the sewage tank liquid level change to determine whether the sewage suction flow is normal. If the flow is abnormal, an alarm is issued in advance.

[0023] Preferably, the base station water adding module receives a water adding command. If the clean water tank is lower than the high liquid level, it starts adding water and calculates the time for the clean water tank liquid level change to determine whether the water adding flow is normal. If the flow is abnormal, an alarm will be issued in advance.

[0024] Preferably, the base station sewage discharge module receives a command to discharge sewage. If the sewage tank is higher than the low liquid level, the sewage discharge is started, and the time for the sewage tank liquid level change is calculated to determine whether the sewage discharge flow is normal. If the flow is abnormal, an alarm is issued in advance.

[0025] The present invention can achieve the following effects:

[0026] The present invention provides a drainage system and method for an auxiliary floor-cleaning robot. Compared with existing technologies, it has the advantages of simple structure and good operational stability. By monitoring the waterways of each module of the unmanned floor-cleaning robot, it solves the problem of the difficulty of effectively monitoring the waterways of unmanned floor-cleaning robots.

[0027] (1) Intelligent monitoring and early warning: Through real-time monitoring of the water circuits of each module of the unmanned floor scrubber robot, including key parameters such as the liquid level and flow rate of the clean water tank and the sewage tank, it can timely and accurately detect abnormal conditions in the water system, such as abnormal flow rate, excessively high or too low liquid level, and issue an alarm in advance to notify the customer to handle the problem, effectively avoiding the risks of poor cleaning effect and equipment damage caused by water circuit failure, improving the reliability and safety of the floor scrubber robot, and reducing maintenance costs and downtime.

[0028] (2) Optimize waterway management: It realizes efficient treatment and precise control of sewage and clean water. The modules work closely together to reasonably perform tasks according to the actual waterway conditions. For example, during the execution of tasks, it intelligently decides whether to perform water circulation, sewage discharge or water replenishment according to the liquid level of the sewage tank and the clean water tank. This ensures that the robot can maintain the normal water balance of the waterway system under different working conditions, improves the utilization efficiency of water resources, avoids the waste of water resources, and also ensures the cleaning effect and continuous working ability of the floor scrubbing robot.

[0029] (3) Improve the level of intelligence: Use liquid level calculation and flow judgment formulas, combined with liquid level sensors and time parameters, to accurately calculate and analyze the water system, making flow monitoring more comprehensive and intelligent, further enhancing the automation and intelligence level of the floor scrubbing robot, enabling it to better adapt to complex and changing cleaning environments and task requirements, and improving user experience and the market competitiveness of the equipment.

[0030] (4) Enhance system stability: When a non-essential module failure such as an error occurs in the water circulation module, the system can suspend the task and flexibly choose to enter the base station water addition module or the base station drainage module for processing, ensuring that the system can continue to operate and will not cause the entire floor cleaning robot to stop working due to the failure of a single module. This effectively improves the stability and fault tolerance of the entire water system and ensures the smooth completion of the cleaning task. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the present invention.

[0032] Figure 2 It is a schematic flow diagram of the water circulation module of the present invention.

[0033] Figure 3 It is a schematic flow diagram of the clean water discharge module of the present invention.

[0034] Figure 4 It is a schematic flow chart of the sewage absorption module of the present invention.

[0035] Figure 5 It is a flow chart of the base station water adding module of the present invention.

[0036] Figure 6 It is a flow chart of the base station drainage module of the present invention.

[0037] Figure 7 It is an operation flow chart of the drainage system of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0039] Example: Figure 1-7 As shown, a water supply and drainage system and method for an auxiliary floor scrubbing robot are provided. The water supply and drainage system includes a clean water float level, a clean water valve, a pump, a sewage pump and various water channel sub-modules; each water channel sub-module includes module 1, module 2, module 3, module 4 and module 5, module 1 is a water circulation module, module 2 is a clean water discharge module, module 3 is a sewage suction module, module 4 is a base station water supply module, and module 5 is a base station sewage discharge module.

[0040] The drainage method includes the following steps:

[0041] Step 1: When the scrubbing robot is detected to be in the task execution state, the system will first start the sewage suction module; when the sewage suction module receives the sewage suction command, if the sewage tank is lower than the high liquid level, it will start sewage suction and calculate the time of sewage tank level change to determine whether the sewage suction flow is normal. If the flow is abnormal, an alarm will be issued in advance.

[0042] During the operation of the sewage suction module, if the sewage module alarms "the sewage tank liquid level is too high" and if the clean water tank is also at a high liquid level, the system will enter the base station sewage discharge module; if the clean water tank liquid level is not high, the system will enter the water circulation module; if the sewage module alarms "sewage suction error", the customer will be notified to handle it.

[0043] Step 2: Start the clean water discharge module. When the clean water discharge module receives the clean water discharge command, if the clean water is lower than the low liquid level, a low liquid level alarm will be triggered. If the clean water is higher than the low liquid level, the clean water discharge will be started, and the time for the clean water tank level change will be calculated to determine whether the clean water discharge flow is normal. If the flow is abnormal, an alarm will be triggered in advance.

[0044] During the operation of the clean water discharge module, if the clean water discharge module alarms "low clean water level" and if the sewage tank is also at a low level, the system enters the base station water addition module; if the sewage tank level is not low, the system enters the water circulation module; if the sewage module alarms "abnormal clean water flow", the customer is notified to handle it.

[0045] Step 3: During the operation of the water circulation module, if an error message "water circulation error" appears, the system will notify the customer to handle it; if the water circulation is normal, it will return to the water channel monitoring and continue to monitor the water channel status; since the water circulation module is not an essential module, when a water circulation error occurs, the system can pause the task and enter the base station water addition module or the base station drainage module to ensure that the system continues to operate.

[0046] After receiving the start command, the water circulation module terminates the water circulation if the sewage tank level has not yet reached the low level; if the clean water tank level has reached the high level, the water circulation ends. If the sewage level is above the low level and the clean water tank level is below the low level, the water circulation begins. Because the clean water and sewage tanks of a vehicle have fixed volumes, and the sewage and clean water tank levels also have a fixed volume difference, the time it takes for the sewage tank level to change from high to low, or the time it takes for the clean water tank level to change, is used to determine if the water circulation flow is normal. If any flow anomalies are detected, an early alarm is issued.

[0047] Step 4: When the robot scrubber is not in a task, the system further determines whether the wastewater tank is at a low level. The base station's sewage discharge module receives the command to drain the wastewater. If the wastewater tank is above the low level, it initiates the drain operation and calculates the time it takes for the tank level to change to determine if the discharge flow is normal. If the flow is abnormal, an alarm is issued in advance. If the wastewater tank level is high, the base station's sewage discharge module is activated; if the fresh water tank level is low, the base station's water replenishment module is activated. This judgment logic allows the system to properly schedule sewage discharge and water replenishment operations, ensuring that the robot maintains a normal water balance in the water system before and between tasks.

[0048] The base station water adding module receives the water adding command. If the clean water tank is lower than the high liquid level, it starts adding water and calculates the time of the clean water tank liquid level change to determine whether the water adding flow is normal. If the flow is abnormal, an alarm will be issued in advance.

[0049] The flow rate is calculated using formula 1:

[0050] Q 工作流量 =(V 液位1 -V 液位2 ) / T 工作时间 ;

[0051] Liquid level calculation is performed using Formula 2:

[0052] V 计算液位 =Q 标定流量 *T 工作时间 ;

[0053] The current operating flow rate is calculated by dividing the volume difference between adjacent liquid level sensors by the time difference between the adjacent liquid level sensors. In actual applications, the flow rates of the system submodules are calibrated to upper and lower limits, and compared with the calculated flow rate values ​​under the vehicle's operating state. If the calibrated upper and lower limits are exceeded, an early alarm is issued. Since the actual system adjacent liquid level difference is fixed, the operating time is calibrated to reduce the difficulty of actual application.

[0054] Since the number of level floats is limited, in many cases the liquid level may be between the two float levels. Therefore, it is necessary to estimate the liquid level using Formula 2. 液位1 or V 液位2 Replaced by V 计算液位 Used to calculate Q 工作流量 To determine whether there is an abnormality.

[0055] The system liquid level has just dropped to the clean water low level V 清水低液位 , followed by T 加水 The base station water adding module at the time has not added the clean water to the high level, so the vehicle clean water level is V 清水箱 =V 清水箱低液位 +T 加水 *Q 基站加水模块标定流量 If the clean water discharge module is carried out at this time, T 排放清水 time, so that the clean water level drops to the clean water low level V 清水低液位 According to the calculation of Q 清水排放工作流量 =(V 清水箱 -V 清水低液位 ) / T 排放清水 and with Q 排放清水标定流量 If the upper and lower limits of the calibration value are exceeded, the clean water discharge level alarm will be issued. This makes flow monitoring more comprehensive and intelligent, and improves the intelligence level of the robot.

[0056] In summary, this drainage system and method for an auxiliary floor-cleaning robot boasts a simple structure and excellent operational stability. By monitoring the waterways of each module within the unmanned floor-cleaning robot, it addresses the difficulty of effectively monitoring these waterways. This system enables efficient treatment, monitoring, and handling of both wastewater and clean water, ensuring the robot can execute its tasks appropriately based on actual waterway conditions and promptly address any anomalies.

[0057] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. A drainage system and method for assisting a floor scrubbing robot, characterized by: The water supply and drainage system includes a clean water float level, a clean water valve, a pump, a sewage pump, and various waterway sub-modules; the various waterway sub-modules include module 1, module 2, module 3, module 4, and module 5. Module 1 is a water circulation module, module 2 is a clean water discharge module, module 3 is a sewage suction module, module 4 is a base station water supply module, and module 5 is a base station sewage discharge module. The drainage method includes the following steps: Step 1: When the robot scrubber is detected to be in task execution, the system will first start the sewage suction module. During the operation of the sewage suction module, if the sewage module alarms "sewage tank level is too high" and the clean water tank is also at a high level, the system will enter the base station sewage discharge module; if the clean water tank level is not high, the system will enter the water circulation module; if the sewage module alarms "sewage suction error", the customer will be notified to handle the problem; Step 2: Start the clean water discharge module. During the operation of the clean water discharge module, if the clean water discharge module alarms "clean water low level" and the sewage tank is also at a low level, the system will enter the base station water addition module; if the sewage tank level is not low, the system will enter the water circulation module; if the sewage module alarms "clean water flow abnormality", the customer will be notified to handle the problem; Step 3: During the operation of the water circulation module, if a "water circulation error" error occurs, the system will notify the user to handle it; if the water circulation is normal, it will return to the water channel monitoring and continue to monitor the water channel status; since the water circulation module is not an essential module, when a water circulation error occurs, the system can pause the task and enter the base station water addition module or base station drainage module to handle it to ensure the system continues to operate; Step 4: The floor scrubbing robot is not in the task state, and the system will further determine whether the sewage tank is at a low liquid level. If the sewage tank level is high, the base station sewage discharge module will be started; if the clean water tank level is not high, the base station water addition module will be entered.

2. The drainage system and method for an auxiliary floor scrubbing robot according to claim 1, characterized in that: The flow rate is calculated using formula 1: Q 工作流量 =(V 液位1 -V 液位2 ) / T 工作时间 ; Liquid level calculation is performed using Formula 2: V 计算液位 =Q 标定流量 *T 工作时间 ; The current operating flow rate is calculated by dividing the volume difference between adjacent liquid level sensors by the time difference between the adjacent liquid level sensors. In actual applications, the flow rates of the system submodules are calibrated to upper and lower limits, and compared with the calculated flow rate values ​​under the vehicle's operating state. If the calibrated upper and lower limits are exceeded, an early alarm is issued. Since the actual system adjacent liquid level difference is fixed, the operating time is calibrated to reduce the difficulty of actual application. Since the number of level floats is limited, in many cases the liquid level may be between the two float levels. Therefore, it is necessary to estimate the liquid level using Formula 2. 液位1 or V 液位2 Replaced by V 计算液位 Used to calculate Q 工作流量 To determine whether there is an abnormality.

3. The drainage system and method for an auxiliary floor scrubbing robot according to claim 2, characterized in that: After the water circulation module receives the start command of the water circulation, if the liquid level in the sewage tank has not reached the low liquid level, the water circulation is ended; if the liquid level in the clean water tank has reached the high liquid level, the water circulation is ended.

4. The drainage system and method for an auxiliary floor scrubbing robot according to claim 3, characterized in that: If the sewage level is higher than the low level and the clean water tank level is lower than the low level, the water circulation is activated. Since the clean water tank and sewage tank of the vehicle have fixed volumes, and the sewage tank and clean water tank levels also have a fixed volume difference, the time it takes for the sewage tank level to change from high to low, or the time it takes for the clean water tank level to change, is used to determine whether the water circulation flow is normal. If any flow abnormality occurs, an alarm will be issued in advance.

5. The drainage system and method for an auxiliary floor scrubbing robot according to claim 2, characterized in that: The clean water discharge module receives the clean water discharge command. If the clean water is lower than the low liquid level, a low liquid level alarm is triggered. If the clean water is higher than the low liquid level, the clean water discharge is started, and the time for the clean water tank liquid level change is calculated to determine whether the clean water discharge flow is normal. If the flow is abnormal, an alarm is triggered in advance.

6. The drainage system and method for an auxiliary floor scrubbing robot according to claim 2, characterized in that: The sewage suction module receives the sewage suction command. If the sewage tank is lower than the high liquid level, it starts sewage suction and calculates the time of sewage tank level change to determine whether the sewage suction flow is normal. If the flow is abnormal, an alarm will be issued in advance.

7. The drainage system and method for an auxiliary floor scrubbing robot according to claim 2, characterized in that: The base station water adding module receives the water adding command. If the clean water tank is lower than the high liquid level, it starts adding water and calculates the time of the clean water tank liquid level change to determine whether the water adding flow is normal. If the flow is abnormal, an alarm will be issued in advance.

8. The drainage system and method for an auxiliary floor scrubbing robot according to claim 2, characterized in that: The base station sewage discharge module receives the command to discharge sewage. If the sewage tank is higher than the low liquid level, it will start the sewage discharge and calculate the time of the sewage tank liquid level change to determine whether the sewage discharge flow is normal. If the flow is abnormal, an alarm will be issued in advance.

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