A robot vacuum cleaner and a method of operation thereof

Abstract

The application belongs to the technical field of intelligent cleaning, and discloses a floor sweeping machine and a working method thereof. The floor sweeping machine comprises a chassis, a nozzle, a water supply mechanism, a wax supply mechanism and a control system, the nozzle, the water supply mechanism, the wax supply mechanism and the control system are all installed on the chassis, the control system is in communication connection with the wax supply mechanism and the water supply mechanism, the control system is used for controlling the water supply mechanism to supply clean water to the nozzle alone, so that the nozzle sprays clean water to a surface to be cleaned; the control system is used for controlling the wax supply mechanism to supply waxing liquid to the nozzle alone, so that the nozzle sprays the waxing liquid to the surface to be cleaned; the control system is used for controlling the water supply mechanism and the wax supply mechanism to supply clean water and waxing liquid to the nozzle together, so that the nozzle sprays waxing liquid with different concentrations to the surface to be cleaned. The floor sweeping machine can not only realize a cleaning mode and a waxing mode, but also can provide waxing liquid with different concentrations in the waxing mode to adapt to different types of surfaces to be cleaned, improve the waxing effect, save the amount of waxing liquid and reduce the use cost.

Description

Technical Field

[0001] This application relates to the field of intelligent cleaning technology, specifically to a sweeping machine and its operating method. Background Technology

[0002] Robotic vacuum cleaners are intelligent cleaning robots with functions such as autonomous navigation, obstacle avoidance, sweeping, and mopping. Currently, most robotic vacuum cleaners on the market can only clean stains and dust from the floor with a cloth and / or roller, but floor waxing still requires separate equipment and personnel.

[0003] In related technologies, such as patent CN213046732U, a sweeper with a waxing function is disclosed. The sweeper's chassis is equipped with a wax storage box, a waxing machine, a waxing tray, and a cotton cover. The wax storage box drips wax onto the ground through its outlet. The waxing machine drives the waxing tray to rotate, and the cotton cover is placed over the waxing tray to spread and apply the wax. However, this sweeper has the following drawbacks: 1) The sweeper does not have the function of adjusting the wax concentration, requiring users to prepare the wax concentration in advance; 2) The wax drips onto the surface to be cleaned by gravity. Although the structure is simple, the wax coverage area is small, making it difficult to spread evenly and resulting in an unsightly waxing effect.

[0004] Therefore, there is an urgent need for a sweeping machine and its operating method to solve the above problems. Summary of the Invention

[0005] The purpose of this application is to solve or at least alleviate some or all of the aforementioned problems. Therefore, the purpose of this application is to provide a sweeping machine and its operating method that eliminates the need for users to adjust the wax concentration, and provides a wider coverage area for the wax, facilitating subsequent spreading and application, and improving the waxing effect and aesthetics.

[0006] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application provides a sweeping machine, comprising: Chassis; The nozzle is installed on the front side of the chassis; A water supply mechanism, installed on the chassis, is used to supply clean water to the nozzle so that the nozzle sprays clean water onto the surface to be cleaned. A wax supply mechanism, installed on the chassis, is used to supply wax liquid to the nozzle so that the nozzle sprays wax liquid onto the surface to be cleaned. The control system is communicatively connected to the water supply mechanism and the wax supply mechanism. The control system is used to control the water supply mechanism to supply clean water to the nozzle alone, or to control the wax supply mechanism to supply waxing liquid to the nozzle alone, or to control the water supply mechanism and the wax supply mechanism to supply clean water and waxing liquid to the nozzle together.

[0007] As an optional solution for the sweeper, it also includes a first three-way valve, wherein the water outlet of the water supply mechanism is connected to the first inlet of the first three-way valve, the wax outlet of the wax supply mechanism is connected to the second inlet of the first three-way valve, and the outlet of the first three-way valve is connected to the nozzle.

[0008] As an optional solution for the sweeper, the water supply mechanism includes a clean water tank and a clean water pump. Both the clean water tank and the clean water pump are installed on the chassis. The inlet of the clean water pump is connected to the clean water tank, and its outlet is connected to the first inlet of the first three-way valve. And / or, the wax supply mechanism includes a wax storage box and a wax pump, both of which are mounted on the chassis. The wax inlet of the wax pump is connected to the wax storage box, and its wax outlet is connected to the second inlet of the first three-way valve.

[0009] As an optional solution for the sweeper, it also includes an air pump and a second three-way valve. Both the air pump and the second three-way valve are communicatively connected to the control system. The first inlet of the second three-way valve is connected to the outlet of the clean water pump, and its second inlet is connected to the exhaust port of the air pump. The outlet of the second three-way valve is connected to the first inlet of the first three-way valve.

[0010] As an optional feature of the sweeper, a wastewater tank is also included. The wastewater tank is installed on the chassis and has an inlet and outlet at the bottom. The air pump's suction port is connected to the wastewater tank and is used to create negative pressure inside the wastewater tank.

[0011] As an optional solution for the sweeper, a multi-way valve is also included, and the number of nozzles is at least two. The inlet of the multi-way valve is connected to the outlet of the first three-way valve, and each outlet of the multi-way valve is connected to one of the nozzles.

[0012] As an optional solution for the sweeping machine, a vision detection component is also included. The vision detection component includes a housing and a camera. The housing is installed on the front side of the chassis and is used to install the nozzle. The camera is installed on the housing and is used to detect the type and condition of the stains on the floor to be cleaned.

[0013] As an optional feature of the sweeping robot, the visual detection component also includes a supplementary light, which is installed on the housing, and the center line of the supplementary light in the horizontal direction is not lower than the center line of the camera in the horizontal direction; And / or, the visual inspection assembly further includes a laser inspection element disposed in the housing, wherein the center line of the laser inspection element in the horizontal direction is lower than the center line of the camera in the horizontal direction.

[0014] Secondly, this application provides a method for operating a sweeping machine, based on the sweeping machine described in any of the preceding claims, comprising the following steps: Cleaning mode: The control system controls the water supply mechanism to work independently according to the type and cleanliness of the surface to be cleaned, so that the nozzle sprays clean water onto the surface to be cleaned; Waxing mode: The control system controls the wax supply mechanism to work alone or to work synchronously with the water supply mechanism, depending on the type and cleanliness of the surface to be cleaned, so that the nozzle sprays a specific concentration of wax liquid onto the surface to be cleaned.

[0015] As an optional solution for the operation method of the sweeper, when the sweeper further includes a first three-way valve, an air pump, and a second three-way valve, the first inlet of the second three-way valve is connected to the water outlet of the water supply mechanism, its second inlet is connected to the exhaust port of the air pump, and the outlet of the second three-way valve is connected to the first inlet of the first three-way valve; the wax outlet of the wax supply mechanism is connected to the second inlet of the first three-way valve, and the outlet of the first three-way valve is connected to the nozzle; The cleaning mode also includes: the control system controls the opening of the first inlet of the second three-way valve, the opening of the outlet of the second three-way valve, the opening of the second inlet of the second three-way valve and its opening time, and the starting of the air pump and its starting time, according to the stains on the ground to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve. The waxing mode further includes: the control system controlling the opening of the first inlet of the second three-way valve, the opening of the outlet of the second three-way valve, the opening of the second inlet of the second three-way valve and its opening time, and the starting of the air pump and its starting time, according to the type of the floor to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve, thereby mixing gas into the waxing liquid sprayed from the nozzle.

[0016] The beneficial effects of this application are as follows: The sweeper provided in this application includes a chassis, nozzles, a water supply mechanism, a wax supply mechanism, and a control system. The nozzles, water supply mechanism, wax supply mechanism, and control system are all mounted on the chassis. The control system is communicatively connected to both the wax supply mechanism and the water supply mechanism. The control system controls the water supply mechanism to supply clean water to the nozzles individually, so that the nozzles spray clean water onto the surface to be cleaned; controls the wax supply mechanism to supply wax liquid to the nozzles individually, so that the nozzles spray wax liquid onto the surface to be cleaned; and controls the water supply mechanism and the wax supply mechanism to supply both clean water and wax liquid to the nozzles, so that the nozzles spray wax liquid of different concentrations onto the surface to be cleaned. This not only enables the sweeper to achieve both sweeping and waxing modes, but also allows for the provision of different concentrations of wax liquid in waxing mode to adapt to different types of surfaces to be cleaned, improving the waxing effect while saving wax liquid usage and reducing operating costs.

[0017] The sweeping machine operation method provided in this application, based on the aforementioned sweeping machine, eliminates the need for users to adjust the wax concentration, and the wax coverage area is larger, facilitating subsequent spreading and application work, thereby improving the waxing effect and aesthetics. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the sweeper provided in the embodiment of this application from a first-view perspective.

[0019] Figure 2 This is a schematic diagram of the layout of the water supply mechanism, wax supply mechanism, sewage tank and clean water tank provided in the embodiments of this application.

[0020] Figure 3 This is an exploded view of the sweeping machine provided in the embodiments of this application from a second perspective.

[0021] Figure 4 This is a cross-sectional view of the wax storage box provided in an embodiment of this application.

[0022] Figure 5 This is an exploded view of the sweeper provided in the embodiments of this application.

[0023] Figure 6 This is a schematic diagram of the structure of the visual inspection component provided in the embodiments of this application.

[0024] Figure 7 This is an exploded view of the visual inspection component provided in the embodiments of this application.

[0025] Figure 8 This is a side view of the second shell provided in an embodiment of this application.

[0026] Figure 9 This is a rear view schematic diagram of the second shell provided in the embodiments of this application.

[0027] Figure 10 yes Figure 9Schematic diagram of cross-section at LL.

[0028] In the picture: 1. Chassis; 11. Mounting cavity; 12. First plug-in connector; 13. Recessed groove; 131. Slot; 14. Mounting groove; 2. Nozzle; 3. Water supply system; 31. Clean water tank; 32. Clean water pump; 4. Wax supply mechanism; 41. Wax storage box; 411. Box body; 4111. Wax filling port; 412. Cover; 413. Second plug-in connector; 42. Waxing pump; 43. Cover plate; 431. Locking protrusion; 51. First three-way valve; 52. Multi-way valve; 53. Second three-way valve; 6. Air pump; 7. Sewage tank; 8. Visual inspection component; 81. Housing; 811. First housing; 8111. First slot; 8112. Second slot; 8113. Third slot; 8114. Fourth slot; 812. Second housing; 82. Camera; 83. Fill light; 84. Laser inspection element. Detailed Implementation

[0029] The technical solution of this application will be further described below through specific embodiments. Those skilled in the art should understand that the embodiments described are merely to help understand this application and should not be regarded as specific limitations on this application.

[0030] In this application, technical features or solutions described using open-ended terms such as "comprising" or "including" do not exclude additional non-conflicting elements beyond those listed unless otherwise specified. They are considered to disclose both closed-ended features or solutions consisting solely of the listed elements and open-ended features or solutions that may include additional non-conflicting elements beyond those listed. For example, if A includes a1, a2, and a3, unless otherwise specified, this means that A may consist only of a1, a2, and a3, or it may include other non-conflicting elements in addition to a1, a2, and a3. This corresponds to the disclosure of technical solutions where "A consists of a1, a2, and a3" and "A includes not only a1, a2, and a3, but also other non-conflicting elements."

[0031] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0034] like Figures 1 to 2 As shown, the sweeper provided in this application includes a chassis 1, a nozzle 2, a water supply mechanism 3, a wax supply mechanism 4, and a control system. The nozzle 2, water supply mechanism 3, wax supply mechanism 4, and control system are all installed on the chassis 1. The control system is communicatively connected to both the wax supply mechanism 4 and the water supply mechanism 3. The control system controls the water supply mechanism 3 to supply clean water to the nozzle 2 individually, so that the nozzle 2 sprays clean water onto the surface to be cleaned; controls the wax supply mechanism 4 to supply wax liquid to the nozzle 2 individually, so that the nozzle 2 sprays wax liquid onto the surface to be cleaned; and controls the water supply mechanism 3 and the wax supply mechanism 4 to supply both clean water and wax liquid to the nozzle 2, so that the nozzle 2 sprays wax liquid of different concentrations onto the surface to be cleaned. This not only enables the sweeper to achieve sweeping and waxing modes, but also provides wax liquid of different concentrations in the waxing mode to adapt to different types of surfaces to be cleaned, improve the waxing effect, save wax liquid usage, and reduce operating costs.

[0035] In addition, the sweeper also includes a roller and a roller brush. Both the roller and the roller brush are installed on the chassis 1 and located behind the nozzle 2. The roller brush is located on the side of the roller closer to the nozzle 2. In the sweeping mode, the roller brush is used in conjunction with water to clean the surface to be cleaned. In the waxing mode, the roller brush is used to spread wax liquid on the surface to be cleaned.

[0036] To facilitate the mixing of water and waxing liquid, the sweeper also includes a first three-way valve 51. The outlet of the water supply mechanism 3 is connected to the first inlet of the first three-way valve 51, the outlet of the wax supply mechanism 4 is connected to the second inlet of the first three-way valve 51, and the outlet of the first three-way valve 51 is connected to the nozzle 2. When the water supply mechanism 3 works alone, the first inlet and outlet of the first three-way valve 51 are open, the second inlet of the first three-way valve 51 is closed, and only water is supplied to the nozzle 2. When the wax supply mechanism 4 works alone, the second inlet and outlet of the first three-way valve 51 are open, the first inlet of the first three-way valve 51 is closed, and only waxing liquid is supplied to the nozzle 2. When the water supply mechanism 3 and the wax supply mechanism 4 work simultaneously, the first inlet, second inlet, and outlet of the first three-way valve 51 are open, simultaneously supplying water and waxing liquid to the nozzle 2. In addition, by controlling the power of the water supply mechanism 3 and the opening time of the first inlet of the first three-way valve 51, waxing liquids of different concentrations can be prepared.

[0037] In some embodiments, the water supply mechanism 3 includes a clean water tank 31 and a clean water pump 32, both of which are mounted on the chassis 1. The inlet of the clean water pump 32 is connected to the clean water tank 31, and its outlet is connected to the first inlet of the first three-way valve 51. The clean water pump 32 may be a water pump with adjustable pumping power.

[0038] In some embodiments, the wax supply mechanism 4 includes a wax storage box 41 and a wax pump 42. Both the wax storage box 41 and the wax pump 42 are mounted on the chassis 1. The wax inlet of the wax pump 42 is connected to the wax storage box 41, and its wax outlet is connected to the second inlet of the first three-way valve 51. The wax pump 42 can be a water pump with adjustable pumping power.

[0039] Furthermore, the control system is communicatively connected to the first three-way valve 51, the waxing pump 42, and the clean water pump 32, and is used to control the opening and closing of the first inlet and the second inlet of the first three-way valve 51, the opening and closing of the waxing pump 42, and the opening and closing of the clean water pump 32, so as to realize different operating modes of the sweeper.

[0040] In some embodiments, the sweeper also includes an air pump 6 and a second three-way valve 53. Both the air pump 6 and the second three-way valve 53 are communicatively connected to the control system. The first inlet of the second three-way valve 53 is connected to the outlet of the clean water pump 32, and its second inlet is connected to the exhaust port of the air pump 6. The outlet of the second three-way valve 53 is connected to the first inlet of the first three-way valve 51.

[0041] In some embodiments, the sweeper also includes a wastewater tank 7, which is installed on the chassis 1. The bottom of the wastewater tank 7 is provided with an inlet and outlet. The air pump 6 is connected to the air pump 7 and is used to generate negative pressure inside the wastewater tank 7.

[0042] Continue as Figure 2As shown, the wastewater tank 7 is located below the clean water tank 31. This not only facilitates the collection of wastewater generated during the cleaning process of the surface to be cleaned, reducing the power consumption of the air pump 6, but also allows the wastewater tank 7 to be gradually filled and the clean water tank 31 to be gradually emptied during the operation of the sweeper, causing the center of gravity of the chassis 1 to gradually shift downward, thus improving the overall stability of the chassis 1.

[0043] In some embodiments, the wastewater tank 7 includes a wastewater tank body and a wastewater tank cover, the wastewater tank cover being detachably mounted on top of the wastewater tank body; the clean water tank 31 includes a clean water tank body and a clean water tank cover, the clean water tank body and the wastewater tank cover being an integrally formed structure, the clean water tank cover being detachably mounted on top of the clean water tank body. This configuration allows for an integrated design of the wastewater tank 7 and the clean water tank 31, reducing the number of parts and lowering production costs. Furthermore, the wastewater tank 7 is located below the clean water tank 31, and the two tanks are stacked vertically, fully utilizing the height space of the chassis 1, making the chassis 1 more compact and smaller in size.

[0044] In some embodiments, the sweeper further includes a multi-way valve 52, and at least two nozzles 2. The inlet of the multi-way valve 52 is connected to the outlet of a first three-way valve 51, and each outlet of the multi-way valve 52 is connected to a corresponding nozzle 2. When there are two nozzles 2, the multi-way valve 52 is a three-way valve, with its inlet connected to the outlet of the first three-way valve 51, and its first and second outlets respectively connected to a nozzle 2. This configuration expands the spray area of ​​the nozzles 2, allowing water, waxing liquid, or a water-wax mixture to be sprayed evenly onto the surface to be cleaned, facilitating sweeping or waxing operations.

[0045] like Figures 3 to 4 As shown, the bottom of the chassis 1 is provided with an installation cavity 11. The wax storage box 41 is detachably installed in the installation cavity 11. The wax storage box 41 has a wax filling port 4111, and a cap (not shown in the figure) is detachably installed at the wax filling port 4111. The wax inlet of the wax pump 42 is connected to the wax storage box 41, and its wax outlet is connected to the nozzle 2, so that the wax liquid can be sprayed out from the nozzle 2. When it is necessary to replenish the wax liquid in the wax storage box 41, the wax storage box 41 can be removed from the installation cavity 11 for wax replenishment, thereby avoiding the wax liquid dripping onto the chassis 1 of the sweeper when filling the wax box, and avoiding additional cleaning work.

[0046] In some embodiments, the opening of the mounting cavity 11 faces downwards, and the wax storage box 41 is detachably inserted into the mounting cavity 11 from the opening along the height direction of the chassis 1. The wax storage box 41 is installed and removed in a straight up-down manner, without the need for lateral pushing, pulling, or rotating for alignment. This makes the installation and removal operation simpler and less strenuous, and it can make full use of the space in the height direction of the chassis 1, saving the lateral space occupied by the chassis 1, making the chassis 1 more compact and smaller in size.

[0047] It is worth noting that the mounting cavity 11 is provided with a first snap-fit ​​structure, and the outer wall of the wax storage box 41 is provided with a second snap-fit ​​structure. The second snap-fit ​​structure can be detachably snapped together with the first snap-fit ​​structure. The first and second snap-fit ​​structures can be common press-type snap-fit ​​structures in the prior art. Any snap-fit ​​structure that can achieve a detachable connection between the wax storage box 41 and the mounting cavity 11 is acceptable. Those skilled in the art can choose according to specific circumstances, and no restrictions are imposed here.

[0048] In some embodiments, the sweeper further includes a cover plate 43, which is detachably installed on the chassis 1 and covers the wax storage box 41. The cover plate 43 serves a protective function, preventing dust and debris from entering the mounting cavity 11, maintaining the cleanliness of the mounting cavity 11, and preventing impurities from contaminating the waxing liquid. In addition, the cover plate 43 also serves to support and limit the wax storage box 41, preventing the wax storage box 41 from detaching from the mounting cavity 11 due to vibration during the operation of the sweeper.

[0049] Furthermore, a recessed groove 13 is provided around the mounting cavity 11, and a cover plate 43 is embedded in the recessed groove 13, with the outer surface of the cover plate 43 flush with the outer surface of the chassis 1. This arrangement improves the overall appearance of the chassis 1 and enhances its aesthetic appeal.

[0050] In some embodiments, slots 131 are provided on both the left and right sides of the sink 13, and a protrusion 431 that cooperates with the slot 131 is provided on the cover plate 43. When the cover plate 43 is installed, the protrusion 431 is inserted into the slot 131, so that the cover plate 43 and the chassis 1 can be detachably and fixedly connected.

[0051] In some embodiments, the wax storage box 41 includes a box body 411 and a cover 412, which are detachably and sealed together. The wax filling port 4111 is opened on the box body 411. This arrangement facilitates the processing and manufacturing of the wax storage box 41, and reduces the processing difficulty and processing cost.

[0052] In some embodiments, the wax filling port 4111 is located at the top of the wax storage box 41. In other words, when the sweeper is in operation, the wax filling port 4111 of the wax storage box 41 is located at the top of the wax storage box 41, and the wax liquid in the wax storage box 41 accumulates at the bottom of the wax storage box 41 under the action of gravity, that is, on the side close to the cover 412. This can prevent the wax liquid in the wax storage box 41 from leaking from the wax filling port 4111, and the cover at the wax filling port 4111 can be stably installed on the wax filling port 4111 under the action of gravity, ensuring the stability of the cover.

[0053] Furthermore, the wax storage box 41 has a positioning groove on its body 411 and a positioning protrusion on its cap. When the cap is installed at the wax filling port 4111, the positioning protrusion of the cap engages with the positioning groove, and the positioning protrusion and the positioning groove are in an interference fit, which further ensures that the cap is not easily dropped from the wax filling port 4111. The positioning protrusion can be made of rubber to facilitate the interference fit between the positioning protrusion and the positioning groove.

[0054] In some embodiments, the mounting cavity 11 is provided with a first plug-in connector 12 extending along the height direction of the chassis 1, and the top of the wax storage box 41 is provided with a second plug-in connector 413 that is detachably plugged into the first plug-in connector 12. The second plug-in connector 413 communicates with the interior of the wax storage box 41, and the first plug-in connector 12 communicates with the wax inlet of the wax pump 42. With this configuration, when installing the wax storage box 41, the first plug-in connector 12 can be inserted into the second plug-in connector 413 to achieve a plug-in connection between the two, thus connecting the wax pump 42 and the wax storage box 41. When the wax pump 42 is started, it can pump the wax liquid in the wax storage box 41 to the nozzle 2 for spraying and waxing.

[0055] like Figures 5 to 6 As shown, the sweeper also includes a vision detection component 8, which includes a housing 81 and a camera 82. The housing 81 is mounted on the front side of the chassis 1 and is used to mount the nozzles 2. The camera 82 is mounted on the housing 81 and is used to detect the type and condition of the floor to be cleaned. The control system is communicatively connected to the camera 82, enabling the control system to acquire the detection information from the camera 82 and select the appropriate operating mode based on this information.

[0056] This robot vacuum cleaner can selectively spray water onto the floor to be cleaned based on the detection results of the camera 82, which can reduce the amount of water on the floor and prevent water from flowing back into the vision detection component 8, thus avoiding the situation where the floor gets dirtier the more it is mopped. This improves the cleaning effect and enhances the user experience.

[0057] In some embodiments, the nozzle 2 is located below the camera 82, that is, the camera 82 is located in the upper half of the housing 81. This arrangement not only makes full use of the installation space of the housing 81, but also the higher the installation position of the camera 82, the larger its illumination range, which is beneficial to expanding the detection range of the camera 82.

[0058] In some embodiments, the front side of the chassis 1 is provided with a mounting groove 14, the housing 81 is detachably installed in the mounting groove 14, and one side surface of the housing 81 serves as the exterior surface of the sweeper.

[0059] The visual inspection component 8 also includes a supplementary light 83, which is mounted on the housing 81. The center line of the supplementary light 83 in the horizontal direction is not lower than the center line of the camera 82 in the horizontal direction. That is, the center line of the supplementary light 83 in the horizontal direction can be higher than the center line of the camera 82 in the horizontal direction, or the center line of the supplementary light 83 in the horizontal direction is aligned with the center line of the camera 82 in the horizontal direction. This configuration ensures that the illumination range of the supplementary light 83 can fully cover the imaging area of ​​the camera 82, improving the image clarity of the camera 82 and thus improving the detection accuracy.

[0060] Furthermore, the lampshade of the supplementary light 83 has protrusions on its surface, and the lampshade is made of a material with added light-diffusing agent, which can make the light shine out more evenly and improve the supplementary lighting effect.

[0061] In some embodiments, the fill light 83 may be a monochrome white LED fill light, an infrared LED fill light, an RGB adjustable full-color fill light, etc., and there are no restrictions on this.

[0062] In some embodiments, the number of cameras 82 is at least two, and the at least two cameras 82 are divided into two groups and located on either side of the vertical center line of the fill light 83. For example, in Figures 5 to 6 In the example shown, there are two cameras 82, located on either side of the vertical center line of the supplementary light 83. The horizontal center lines of the two cameras 82 overlap and are lower than the horizontal center line of the supplementary light 83. By setting two cameras 82, the detection range of the visual detection component 8 can be increased, thereby improving the accuracy of the detection results and the cleaning effect of the robot vacuum cleaner. In other examples, the number of cameras 82 is not limited to two; it can be one, three, four, five, etc., and can be designed according to specific needs, without limitation here.

[0063] It is worth noting that the lens of camera 82 should be pointed towards the surface to be cleaned so that camera 82 can accurately capture the condition of the stains on the surface, thereby facilitating the control system to start or stop the water supply mechanism 3. Furthermore, camera 82 can be an AI camera.

[0064] The vision inspection component 8 also includes a laser detection element 84, which is located in the housing 81, and the center line of the laser detection element 84 in the horizontal direction is lower than the center line of the camera 82 in the horizontal direction. The laser detection element 84, used in conjunction with the camera 82, can expand the types of stains that the vision inspection component 8 can detect, such as oil stains, water stains, floating dust, sand particles, or powder, thereby improving the intelligence and cleaning power of the robot vacuum cleaner.

[0065] The laser detection element 84 is located below the supplementary light 83, and faces the same front and lower ground working area as the supplementary light 83 and the camera 82. The imaging detection field of view of the three overlaps at a height, which can improve the accuracy of stain detection. In conjunction with the water supply mechanism 3, it can improve the intelligence and cleaning power of the sweeper.

[0066] In some embodiments, the laser detection element 84 may be selected from diffuse reflection laser photoelectric sensors, laser rangefinders, laser scattering dust sensors, line laser profile sensors, multi-point laser reflection sensor arrays, etc., without limitation.

[0067] In some embodiments, the number of nozzles 2 is at least two, and the at least two nozzles 2 are divided into two groups and located on both sides of the vertical center line of the supplementary light 83. This arrangement can increase the overall water spray range of the vision detection component 8, achieving no blind spots in cleaning and improving the cleaning effect.

[0068] In some embodiments, the center lines of the spray holes of the nozzles 2 located on both sides of the vertical center line of the supplementary light 83 intersect. On the one hand, the spraying areas of the nozzles 2 are seamlessly connected, with no blind spots; on the other hand, the water sprayed by the nozzles 2 can be more concentrated in the central area, improving the stain wetting effect in the central area.

[0069] exist Figures 5 to 6 In the example shown, there are two cameras 82, arranged horizontally at intervals, with a supplementary light 83 positioned between them. There are also two nozzles 2, arranged horizontally at intervals, with a laser detection element 84 positioned between them. The horizontally spaced arrangement of the two cameras 82 and the centrally positioned supplementary light 83 widens the lateral imaging range, resulting in uniform illumination without shadows on both sides. The horizontally spaced arrangement of the two nozzles 2 and the centrally positioned laser detection element 84 allow for simultaneous monitoring of dust in the left and right spray areas, enabling precise water spraying in a single-sided zone. The upper and lower components are symmetrically arranged along the same vertical centerline, ensuring complete overlap between the visual and laser detection areas and the spray range, resulting in a high degree of matching between stain recognition and water spraying.

[0070] Continue as Figures 5 to 6 As shown, the housing 81 includes a first housing 811 and a second housing 812. The camera 82, the fill light 83, and the laser detection element 84 are all mounted on the first housing 811, and the nozzle 2 is mounted on the second housing 812. The second housing 812 is detachably and fixedly connected to the first housing 811. This arrangement facilitates the installation of the camera 82, the fill light 83, the laser detection element 84, and the nozzle 2, and improves installation accuracy and stability.

[0071] In addition, the first shell 811 is provided with a first slot 8111, a second slot 8112, a third slot 8113 and a fourth slot 8114. The lens of the camera 82 is matched with the first slot 8111, the water outlet end of the nozzle 2 is matched with the second slot 8112, the lamp part of the supplementary light 83 is matched with the third slot 8113, and the detection end of the laser detection element 84 is matched with the fourth slot 8114, so as to realize the positioning and installation of the camera 82, the nozzle 2, the supplementary light 83 and the laser detection element 84. Moreover, the camera 82, the supplementary light 83 and the laser detection element 84 are sandwiched between the first shell 811 and the second shell 812, which can improve the installation stability of the three and thus improve the detection accuracy.

[0072] In some embodiments, the nozzle 2 and the second housing 812 are integrally formed. In other words, the nozzle 2 structure is directly formed on the second housing 812, resulting in fewer parts, a simple and reliable structure, and eliminating the need for subsequent nozzle 2 installation, thus improving assembly efficiency.

[0073] like Figures 7 to 9 As shown, the angle between the center line of the spray hole of nozzle 2 and the horizontal plane ranges from 10° to 30°, allowing the water sprayed from nozzle 2 to be accurately sprayed onto the floor to be cleaned. Furthermore, the water supply mechanism 3 can provide a water flow rate of milliliters to milliliters per minute. Combined with the 10° to 30° downward tilt of nozzle 2, it can cover an area of ​​about 20mm in front of the sweeper, allowing for pre-spraying of heavily soiled areas.

[0074] There are two nozzles 2, which are symmetrically arranged around the vertical center line of the supplementary light 83. The center lines of the spray holes of the two nozzles 2 intersect. The center lines of the spray holes of the two nozzles 2 extend from their water inlet to their water outlet from both sides towards each other from top to bottom. The spray holes converge and extend inward and downward, and the center lines intersect. This can achieve the effect of full coverage spraying on the left and right sides of the ground and concentrated spraying in the middle area, while also reducing water splashing to protect the camera 82, the supplementary light 83 and the laser detection element 84.

[0075] During the operation of the sweeper, the camera 82, the supplementary light 83, and the laser detection element 84 work together to achieve obstacle avoidance and recognition. When a stain is detected and water spraying is required, the water pump and the three-way valve are activated. The water in the water tank flows to the nozzle 2 under the action of the water pump and is sprayed onto the ground to be cleaned. Then, the sweeper's mop or roller cleans the ground as it passes over it. When no stain is detected and water spraying is not required, the water pump and the three-way valve are closed, and the nozzle 2 does not spray water.

[0076] This application also provides a method for operating a sweeping machine. Based on the above-mentioned sweeping machine, the method for operating the sweeping machine includes the following steps: Cleaning mode: The control system controls the water supply mechanism 3 to work independently according to the type and cleanliness of the ground to be cleaned, so that the nozzle 2 sprays clean water onto the ground to be cleaned; Waxing mode: The control system controls the wax supply mechanism 4 to work alone or to work synchronously with the water supply mechanism 3, depending on the type and cleanliness of the surface to be cleaned, so that the nozzle 2 sprays a specific concentration of wax liquid onto the surface to be cleaned.

[0077] In some embodiments, in the cleaning mode, the control system controls the first inlet of the first three-way valve 51 to close, the waxing pump 42 to close, the second inlet of the first three-way valve 51 to open, and the clean water pump 32 to start, so that the nozzle 2 sprays clean water onto the floor to be cleaned.

[0078] In some embodiments, in the waxing mode, the control system controls the opening of the first inlet of the first three-way valve 51, the start of the waxing pump 42, the opening of the second inlet of the first three-way valve 51 and its opening time, and the start of the clean water pump 32 and its opening time, according to the type and cleanliness of the surface to be cleaned, so that the nozzle 2 sprays a waxing liquid of a specific concentration onto the surface to be cleaned.

[0079] In some embodiments, when the sweeper further includes a first three-way valve 51, an air pump 6, and a second three-way valve 53, the first inlet of the second three-way valve 53 is connected to the outlet of the clean water pump 32, its second inlet is connected to the exhaust port of the air pump 6, and the outlet of the second three-way valve 53 is connected to the second inlet of the first three-way valve 51. The sweeping mode further includes: the control system controls the opening of the first inlet of the second three-way valve 53, the opening of the outlet of the second three-way valve 53, the opening of the second inlet of the second three-way valve 53 and its opening time, and the starting of the air pump 6 and its starting time, according to the stains on the ground to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve 51. The waxing mode also includes: the control system controls the opening of the first inlet of the second three-way valve 53, the opening of the outlet of the second three-way valve 53, the opening of the second inlet of the second three-way valve 53 and their opening time, and the start of the air pump 6 and its start time, according to the type of floor to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve 51, thereby mixing gas into the waxing liquid sprayed from the nozzle 2.

[0080] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application fall within the protection and disclosure scope of this application.

Claims

1. A sweeping machine, characterized in that, include: Chassis (1); The nozzle (2) is installed on the front side of the chassis (1); A water supply mechanism (3) is installed on the chassis (1). The water supply mechanism (3) is used to supply clean water to the nozzle (2) so that the nozzle (2) sprays clean water onto the surface to be cleaned. A wax supply mechanism (4) is installed on the chassis (1). The wax supply mechanism (4) is used to supply wax liquid to the nozzle (2) so that the nozzle (2) sprays wax liquid onto the surface to be cleaned. The control system is communicatively connected to the water supply mechanism (3) and the wax supply mechanism (4). The control system is used to control the water supply mechanism (3) to supply clean water to the nozzle (2) alone, or to control the wax supply mechanism (4) to supply waxing liquid to the nozzle (2) alone, or to control the water supply mechanism (3) and the wax supply mechanism (4) to supply clean water and waxing liquid to the nozzle (2) together.

2. The sweeper according to claim 1, characterized in that, It also includes a first three-way valve (51), the outlet of the water supply mechanism (3) is connected to the first inlet of the first three-way valve (51), the outlet of the wax supply mechanism (4) is connected to the second inlet of the first three-way valve (51), and the outlet of the first three-way valve (51) is connected to the nozzle (2).

3. The sweeper according to claim 2, characterized in that, The water supply mechanism (3) includes a clean water tank (31) and a clean water pump (32). The clean water tank (31) and the clean water pump (32) are both installed on the chassis (1). The inlet of the clean water pump (32) is connected to the clean water tank (31), and its outlet is connected to the first inlet of the first three-way valve (51). And / or, the wax supply mechanism (4) includes a wax storage box (41) and a wax pump (42), both of which are mounted on the chassis (1). The wax inlet of the wax pump (42) is connected to the wax storage box (41), and its wax outlet is connected to the second inlet of the first three-way valve (51).

4. The sweeper according to claim 3, characterized in that, It also includes an air pump (6) and a second three-way valve (53), both of which are connected to the control system. The first inlet of the second three-way valve (53) is connected to the outlet of the water pump (32), and its second inlet is connected to the exhaust port of the air pump (6). The outlet of the second three-way valve (53) is connected to the first inlet of the first three-way valve (51).

5. The sweeper according to claim 4, characterized in that, It also includes a sewage tank (7), which is installed on the chassis (1). The bottom of the sewage tank (7) is provided with an inlet and outlet. The air pump (6) is connected to the sewage tank (7) and is used to generate negative pressure inside the sewage tank (7).

6. The sweeper according to claim 2, characterized in that, It also includes a multi-way valve (52), and the number of nozzles (2) is at least two. The inlet of the multi-way valve (52) is connected to the outlet of the first three-way valve (51), and each outlet of the multi-way valve (52) is connected to a corresponding nozzle (2).

7. The sweeper according to any one of claims 1-6, characterized in that, It also includes a visual inspection component (8), which includes a housing (81) and a camera (82). The housing (81) is mounted on the front side of the chassis (1) and is used to install the nozzle (2). The camera (82) is mounted on the housing (81) and is used to detect the type and condition of stains on the surface to be cleaned.

8. The sweeper according to claim 7, characterized in that, The visual inspection component (8) also includes a fill light (83), which is mounted on the housing (81). The center line of the fill light (83) in the horizontal direction is not lower than the center line of the camera (82) in the horizontal direction. And / or, the visual inspection component (8) further includes a laser inspection element (84) disposed on the housing (81), and the center line of the laser inspection element (84) in the horizontal direction is lower than the center line of the camera (82) in the horizontal direction.

9. A method for operating a sweeping machine, characterized in that, Based on the sweeper as described in any one of claims 1-8, the process includes the following steps: Cleaning mode: The control system controls the water supply mechanism (3) to work independently according to the type and cleanliness of the ground to be cleaned, so that the nozzle (2) sprays clean water onto the ground to be cleaned; Waxing mode: The control system controls the wax supply mechanism (4) to work alone or controls the wax supply mechanism (4) to work synchronously with the water supply mechanism (3) according to the type and cleanliness of the ground to be cleaned, so that the nozzle (2) sprays wax liquid of a specific concentration onto the ground to be cleaned.

10. The method of operation of the sweeper according to claim 9, characterized in that, When the sweeper also includes a first three-way valve (51), an air pump (6), and a second three-way valve (53), the first inlet of the second three-way valve (53) is connected to the outlet of the water supply mechanism (3), its second inlet is connected to the exhaust port of the air pump (6), and the outlet of the second three-way valve (53) is connected to the first inlet of the first three-way valve (51); the wax outlet of the wax supply mechanism (4) is connected to the second inlet of the first three-way valve (51), and the outlet of the first three-way valve (51) is connected to the nozzle (2); The cleaning mode also includes: the control system controls the opening of the first inlet of the second three-way valve (53), the opening of the outlet of the second three-way valve (53), the opening of the second inlet of the second three-way valve (53) and its opening time, and the starting of the air pump (6) and its starting time, according to the stains on the ground to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve (51); The waxing mode further includes: the control system controls the opening of the first inlet of the second three-way valve (53), the opening of the outlet of the second three-way valve (53), the opening of the second inlet of the second three-way valve (53) and its opening time, and the starting of the air pump (6) and its starting time, according to the type of the floor to be cleaned, so as to mix gas into the clean water entering the second inlet of the first three-way valve (51), thereby mixing gas into the waxing liquid sprayed from the nozzle (2).

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