An unmanned floor washing machine capable of automatically adding and draining water

Abstract

The application discloses an unmanned floor washing machine capable of automatically adding and discharging water, which comprises a walking chassis, a recovery box fixedly connected to one side of the top end of the walking chassis, a sewage tank fixedly connected to the other side of the top end of the walking chassis, a clean water tank arranged at the top end of the sewage tank, a blow-drying mechanism arranged below the outside of the side of the walking chassis close to the sewage tank, and a recovery mechanism arranged in the inside of the recovery box, which is used in cooperation with the blow-drying mechanism. The application recycles and utilizes the heat generated by the brushless motor, the clean water pump and the sewage pump, forms hot air, and sends the hot air into the air injection frame plate after filtration, so that the secondary utilization of heat energy is realized, the energy consumption of the whole machine is effectively reduced, the ground treated by the water suction scraper is secondarily dried by the hot air, the ground is ensured to be washed and dried at the same time, and the hidden danger of wet and slippery is prevented.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence, specifically to an unmanned floor scrubber that can automatically add and drain water. Background Technology

[0002] With the continuous acceleration of urbanization and the continuous rise in labor costs, cleaning equipment is being used more and more widely in the daily cleaning and maintenance of large hard surfaces such as commercial venues, industrial plants, hospitals, shopping malls and underground parking garages. At present, floor scrubbers that integrate washing and wastewater recycling have become the mainstream equipment for floor cleaning. They scrub the floor with cleaning components and use a squeegee to collect the wastewater generated during washing in a timely manner. Compared with traditional mop cleaning methods, they have significant advantages such as high cleaning efficiency and stable cleaning quality.

[0003] To further reduce human intervention and enhance the autonomous operation capabilities of equipment, artificial intelligence technology has been gradually introduced into the field of floor cleaning. Unmanned floor scrubbers with autonomous navigation and path planning capabilities have emerged in the industry. They rely on perception devices such as lidar, visual sensors, and ultrasonic sensors, combined with artificial intelligence algorithms such as SLAM, to achieve environmental mapping and positioning. They can autonomously complete floor cleaning operations within a preset area without human intervention, effectively reducing the labor intensity of cleaning personnel and improving the standardization of cleaning operations.

[0004] In existing technologies, the cleaning process of unmanned floor scrubbers typically involves wet scrubbing with cleaning components, followed by vacuum suction using a squeegee to collect residual wastewater and dirt from the floor into a wastewater tank. However, due to the inherent physical structure of the squeegee, there is always a gap between the squeegee blade and the floor. Furthermore, when there are uneven areas on the floor or when the floor scrubber is turning, the squeegee blade cannot adapt to changes in the floor's undulations in real time. This results in the squeegee not being able to fully adhere to the floor for effective suction, leaving a wet film or watermarks on the floor after the squeegee has passed. This affects the cleaning effect and may pose a safety hazard due to the slippery surface. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned floor scrubber that can automatically add and drain water, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An unmanned floor scrubber capable of automatically adding and draining water, including

[0008] A walking chassis, wherein a recycling bin is fixedly connected to one side of the top of the walking chassis;

[0009] A sewage tank is fixedly connected to the top of the other side of the walking chassis, and a clean water tank is provided at the top of the sewage tank.

[0010] A drying mechanism is located on the lower outer side of the walking chassis near the sewage tank;

[0011] A recycling mechanism is located inside the recycling bin and is used in conjunction with the drying mechanism;

[0012] A control box is fixedly connected to the top of the recycling bin on the side away from the sewage bin, and the control box is equipped with intelligent control components.

[0013] Furthermore, a cleaning component is arranged side by side on the lower front side of the walking chassis, a brushless motor is fixedly connected to the middle of the inner bottom wall of the recycling bin, the output shaft of the brushless motor is connected to the cleaning component, and a suspension bracket is fixedly connected to both ends of the rear outer side of the walking chassis, and a water suction squeegee is fixedly connected between the bottom middle of the two suspension brackets, the water suction squeegee being flush with the lower end surface of the cleaning component.

[0014] Furthermore, mounting brackets are fixedly connected to both ends of the rear top of the walking chassis and both sides of the top of the sewage tank. Connecting brackets are fixedly connected to both sides of the bottom of the sewage tank and the clean water tank. The connecting brackets are detachably connected to the mounting brackets by bolts. A docking component is provided on the upper part of the side of the sewage tank away from the recycling tank and on the lower part of the side of the clean water tank away from the recycling tank. The docking component is used to dock with an external workstation.

[0015] Furthermore, the docking assembly includes mounting holes respectively opened on the side of the sewage tank and the clean water tank away from the recycling tank. A valve body is detachably connected to the mounting hole via a flange. A valve stem is slidably fitted inside the valve body. A valve core and a push block are integrally formed at both ends of the valve stem. A boss one is fixedly connected circumferentially to the inner wall of the valve body near the push block. A boss two is fixedly connected to the outer periphery of the middle part of the valve stem. A spring is movably sleeved on the outside of the valve stem. The two ends of the spring abut against the boss one and the boss two, respectively. Several through holes are evenly distributed on the outer periphery of the middle part of the valve body.

[0016] Furthermore, the drying mechanism includes a jet frame plate slidably disposed between the bottom ends of two suspension brackets. Slider blocks are fixedly connected to both sides of the top of the jet frame plate. A groove is formed along the length of the bottom of the suspension bracket on the side away from the chassis. The slider slides into the groove. A damper is provided between the jet frame plate and both sides of the squeegee. The outer shell of the damper is fixedly connected to the jet frame plate, and its telescopic end is fixedly connected to the squeegee. Air duct three is fixedly connected to both sides of the top of the jet frame plate. Air duct two is fixedly connected to both ends of the rear top of the chassis via a fixing bracket. A corrugated pipe is detachably connected between the outlet end of air duct two and the inlet end of air duct three. A three-way valve two is fixedly connected to the inlet ends of the two air duct twos. A straight pipe is fixedly connected to the inlet end of the three-way valve two.

[0017] Furthermore, the recycling mechanism includes an opening at the top rear side of the recycling bin, and a filter screen plate detachably connected to the top of the opening by bolts. The top of the filter screen plate is fixedly covered with a top cover, and an S-shaped connecting pipe is fixedly connected to the top right side of the top cover. The outlet end of the S-shaped connecting pipe is detachably connected to a duct 1 via a flange. The outlet end of the duct 1 is fixedly connected to a reversing valve. One outlet end of the reversing valve is fixedly connected to the inlet end of a straight pipe, and the other outlet end extends to the lower interior of the sewage tank. U-shaped pipes are fixedly connected to both sides of the inner top wall of the sewage tank via hangers. The inlet ends of the two U-shaped pipes are connected to the inlet end of the reversing valve located at the lower interior of the sewage tank via a three-way valve 1. The outlet ends of the two U-shaped pipes are fixedly connected to horizontal jet pipes, which are horizontally positioned at the lower interior sides of the sewage tank.

[0018] Furthermore, the recycling mechanism also includes a flow guide baffle fixedly connected to the upper part of the recycling bin. The flow guide baffle has a channel through it on the side near the top cover. A mounting base is fixedly connected to the inner top wall of the recycling bin on the side away from the filter screen. An electric push rod is fixedly connected to the mounting base on the side away from the filter screen. The output shaft of the electric push rod is fixedly connected to an upper sealing plate through the mounting base. A connecting plate is fixedly connected to the bottom of the upper sealing plate on the side away from the mounting base. A lower sealing plate is fixedly connected to the bottom end of the connecting plate. An air inlet is through it on the front side of the recycling bin. A baffle is detachably connected to the outer side of the air inlet, and a cooling fan is detachably connected to the inner side through bolts.

[0019] Furthermore, a water purification pump and a sludge suction pump are fixedly connected to the inner bottom wall of the recycling bin and to the left and right sides of the brushless motor, respectively. The outlet end of the water purification pump is fixedly connected to the inlet end of the cleaning component through a water outlet pipe. The water purification tank is connected to the cleaning component through the water purification pump to supply clean water. A water suction pipe is fixedly connected to the inlet end of the water purification pump, and the inlet end of the water suction pipe is fixedly connected to the outlet end of the water purification tank. The inlet end of the sludge suction pump is fixedly connected to the outlet end of the squeegee through a sewage pipe. The sewage tank is connected to the squeegee through the sludge suction pump to recycle sewage. The outlet end of the sludge suction pump is fixedly connected to the inlet end of the sewage tank through a sewage discharge pipe. A level sensor 1 and a level sensor 2 are fixedly connected to the top front side of both the water purification tank and the sewage tank. The detection end of the level sensor 1 extends into the interior of the water purification tank, and the detection end of the level sensor 2 extends into the interior of the sewage tank. An exhaust valve is also fixedly connected to the upper part of the sewage tank on the side away from the recycling bin.

[0020] Furthermore, the intelligent control component includes a mounting bracket fixedly connected to the top center of the recycling bin, and a lidar fixedly connected to the top of the mounting bracket. A battery module and an intelligent control module are fixedly connected to both sides of the inner bottom wall of the control box, respectively. A binocular camera is fixedly connected to the upper front side of the recycling bin. Several ultrasonic sensors are evenly distributed and fixedly connected to the side wall of the walking chassis along the circumference. A distance sensor is also fixedly connected to the upper side of the sewage tank away from the recycling bin.

[0021] Furthermore, a pressure sensor is fixedly connected to the middle of the S-shaped connecting pipe, and the pressure sensor and the electric push rod are electrically connected to the intelligent control module.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. This invention utilizes a cooling fan to recover and reuse the heat generated by the brushless motor, water pump, and sludge pump. The heat is then filtered and sent into the jet frame plate, achieving secondary utilization of thermal energy and effectively reducing the overall energy consumption of the machine. The hot air also dries the ground after it has been treated by the sludge, ensuring that the ground is washed and dried immediately, preventing the risk of slippery surfaces.

[0024] 2. The filter screen of this invention adopts a half-width working surface design. With the help of a pressure sensor, the pressure difference between the two sides of the filter screen is monitored in real time. When the filter screen is blocked and the pressure drops to the set threshold, the electric push rod automatically pushes the sealing plate to fully open the clean half-width screen surface, so that hot air passes through the blocked area and the clean area at the same time, which greatly increases the effective filtration area to restore normal filtration flow and pressure, and significantly extends the continuous operation time.

[0025] 3. The intelligent control module of this invention automatically controls the workstation to complete the replenishment of clean water and the discharge of sewage, realizing fully unmanned operation. Moreover, during the drainage process, hot air is blown into the sewage tank through the jet pipe to form turbulence, which washes up and suspends the sludge and other sediments deposited at the bottom, and discharges them with the sewage. This effectively prevents the long-term accumulation and scaling of sludge, ensures the cleanliness of the inside of the sewage tank, and extends the equipment maintenance cycle and service life. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall front view of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall side view structure of the present invention;

[0028] Figure 3 This is a cross-sectional view of the water purification tank of the present invention;

[0029] Figure 4 This is a schematic cross-sectional view of the wastewater tank of the present invention;

[0030] Figure 5 This is a cross-sectional view of the docking assembly of the present invention;

[0031] Figure 6 This is a schematic diagram of the pipeline system installation structure of the present invention;

[0032] Figure 7 For the present invention Figure 2 An enlarged view of point A in the diagram;

[0033] Figure 8 For the present invention Figure 2 Enlarged diagram of point B in the diagram;

[0034] Figure 9 For the present invention Figure 6 Enlarged view of point C in the diagram;

[0035] Figure 10 This is a block diagram of the intelligent control system of the present invention.

[0036] In the diagram: 1. Walking chassis; 2. Recycling bin; 3. Wastewater tank; 4. Clean water tank; 5. Control box; 6. Cleaning components; 7. Brushless motor; 8. Suspension bracket; 9. Squeegee; 10. Mounting bracket; 11. Connecting bracket; 12. Docking assembly; 13. Valve body; 14. Valve stem; 15. Valve core; 16. Push block; 17. Boss 1; 18. Boss 2; 19. Spring; 20. Through hole; 21. Air jet frame plate; 22. Slider; 23. Slide groove; 24. Air duct 3; 25. Fixing bracket; 26. Air duct 2; 27. Corrugated pipe; 28. Three-way valve 2; 29. ​​Straight pipe; 30. Opening; 31. Filter screen; 32. Top cover; 33. S-shaped connecting pipe; 34. Reversing valve; 35. Hanger; 36. U-shaped pipe; 37. Three-way valve 1; 38. Jet pipe; 39. Flow guide baffle; 40. Channel; 41. Mounting base; 42. Electric push rod; 43. Fixed base; 44. Upper sealing plate; 45. Connecting plate; 46. Lower sealing plate; 47. Cooling fan; 48. Clean water pump; 49. Sewage pump; 50. Water outlet pipe; 51. Pumping pipe; 52. Sewage pipe; 53. Sewage discharge pipe; 54. Liquid level sensor 1; 55. Liquid level sensor 2; 56. Exhaust valve; 57. Mounting bracket; 58. LiDAR; 59. Battery module; 60. Intelligent control module; 61. Binocular camera; 62. Ultrasonic sensor; 63. Pressure sensor; 64. Distance sensor; 65. Air duct 1; 66. Damper. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the present invention provides a technical solution:

[0039] An unmanned floor scrubber with automatic water filling and drainage includes a chassis 1. A collection box 2 is fixedly connected to one side of the top of the chassis 1. A clean water pump 48 and a vacuum pump 49 are fixedly connected to the inner bottom wall of the collection box 2 on the left and right sides of a brushless motor 7, respectively. The outlet of the clean water pump 48 is fixedly connected to the inlet of the cleaning component 6 through a water outlet pipe 50. A clean water tank 4 is connected to the cleaning component 6 through the clean water pump 48 to supply clean water. A suction pipe is fixedly connected to the inlet of the clean water pump 48. 51. The inlet end of the suction pipe 51 is fixedly connected to the outlet end of the clean water tank 4. The inlet end of the sewage pump 49 is fixedly connected to the outlet end of the squeegee 9 via the sewage pipe 52. The sewage tank 3 is connected to the squeegee 9 via the sewage pump 49 to recover sewage. The outlet end of the sewage pump 49 is fixedly connected to the inlet end of the sewage tank 3 via the drain pipe 53. Liquid level sensor 1 54 and liquid level sensor 2 55 are fixedly connected to the top front side of both the clean water tank 4 and the sewage tank 3. Liquid level sensor 1 54 detects... The end of the liquid level sensor 55 extends into the interior of the clean water tank 4, and the detection end of the liquid level sensor 55 extends into the interior of the sewage tank 3. The upper part of the sewage tank 3 away from the recycling tank 2 is also fixedly connected to the exhaust valve 56. The sewage tank 3 is fixedly connected to the top of the other side of the walking chassis 1. The top of the sewage tank 3 is equipped with the clean water tank 4. The front side of the walking chassis 1 is arranged side by side with the cleaning component 6. The middle of the inner bottom wall of the recycling tank 2 is fixedly connected with the brushless motor 7. The output shaft of the brushless motor 7 is connected to the cleaning component 6. The rear side of the walking chassis 1 is fixedly connected with the suspension brackets 8 at both ends. The middle bottom of the two suspension brackets 8 is fixedly connected with the suction squeegee 9. The suction squeegee 9 is flush with the lower end of the cleaning component 6. The rear top of the walking chassis 1 and the top sides of the sewage tank 3 are fixedly connected with the mounting brackets 10. The bottom sides of the sewage tank 3 and the clean water tank 4 are fixedly connected with the connecting brackets 11. The connecting brackets 11 are detachably connected to the mounting brackets 10 by bolts.

[0040] As a preferred option, the lidar 58 uses a time-of-flight lidar, which accurately infers its own position by measuring the distance of an object in the horizontal direction in 360 degrees.

[0041] As a preferred option, the ultrasonic sensor 62 uses ultrasonic radar, which, based on the emission, propagation and reflection characteristics of ultrasonic waves, calculates the round-trip time of the sound waves to measure distance, locate obstacles, and avoid collisions with external objects during movement.

[0042] As a preferred option, the binocular camera 61 uses an Intel RealSense depth camera to acquire three-dimensional spatial information of objects through active stereo vision and structured light principles for path planning and obstacle recognition.

[0043] Preferably, the bottom of the walking chassis 1 is provided with a drive wheel and a driven wheel. The drive wheel is driven to rotate by a drive motor. The bottom of the walking chassis 1 is also provided with a steering wheel. The steering wheel is driven to deflect by a steering motor to achieve steering. The drive motor and the steering motor are electrically connected to the intelligent control module 60 respectively.

[0044] Preferably, the cleaning component 6 includes a disc brush arranged side by side below the front side of the walking chassis 1. The output shaft of the brushless motor 7 is connected to the disc brush via a transmission device. The lower end face of the disc brush is flush with the lower end face of the squeegee 9.

[0045] In this embodiment, through multi-source perception fusion of LiDAR 58, binocular camera 61 and ultrasonic sensor 62, accurate path planning and autonomous navigation are achieved. Combined with the coordinated control of drive wheels and steering wheels, the chassis 1 is ensured to drive stably in complex environments. The rotating brush and the real-time water supply of the water pump 48 can efficiently remove stubborn stains on the ground. At the same time, the squeegee 9 promptly recovers the wastewater, avoiding secondary pollution and significantly improving the efficiency and quality of floor cleaning.

[0046] like Figure 3 , Figure 4 and Figure 5 As shown, docking components 12 are provided on the upper part of the side of the sewage tank 3 away from the recycling tank 2 and the lower part of the side of the clean water tank 4 away from the recycling tank 2. The docking components 12 are used to dock with external workstations. The docking components 12 include mounting holes respectively opened on the side of the sewage tank 3 and the clean water tank 4 away from the recycling tank 2. A valve body 13 is detachably connected to the mounting hole through a flange. A valve stem 14 is slidably fitted inside the valve body 13. A valve core 15 and a push block 16 are integrally formed at both ends of the valve stem 14. A boss 17 is fixedly connected circumferentially on the inner wall of the valve body 13 near the push block 16. A boss 28 is fixedly connected to the outer periphery of the middle part of the valve stem 14. An annular groove is also opened on the outer periphery of the boss 28. A sealing ring is embedded in the annular groove. A spring 19 is movably sleeved on the outside of the valve stem 14. The two ends of the spring 19 abut against the boss 17 and the boss 28 respectively. Several through holes 20 are evenly distributed on the outer periphery of the middle part of the valve body 13.

[0047] Preferably, the side wall of the blind insertion tube has a through hole corresponding to the position of the through hole 20 of the valve body 13. When the blind insertion tube is connected to the valve body 13, the end of the blind insertion tube extends into the interior of the valve body 13 and directly presses against the valve core 15, pushing the valve core 15 to drive the valve stem 14 to move towards the push block 16, so that the valve core 15 is separated from the sealing surface of the valve body 13. At the same time, the through hole of the blind insertion tube is directly connected to the through hole 20 of the valve body 13, thereby opening the water passage between the internal channel of the blind insertion tube and the through hole 20 and the clean water tank 4 or the sewage tank 3. When the blind insertion tube is withdrawn, the elastic force of the spring 19 pushes the boss 18 to drive the valve stem 14 and the valve core 15 to reset. At the same time, the push block 16 is located inside the clean water tank 4 or the sewage tank 3 and directly bears the liquid pressure inside the tank. The liquid pressure inside the tank pushes the push block 16 in the opposite direction and works together with the spring 19 to make the valve core 15 press the sealing surface again, realizing the automatic closing of the valve body 13.

[0048] In this embodiment, the liquid level of the clean water tank 4 and the sewage tank 3 is monitored in real time by a liquid level sensor to realize automatic triggering of water addition and drainage without manual intervention. The docking component 12 adopts a structure that cooperates with the valve body 13 by blind insertion. When inserted, it automatically opens the valve core 15 to connect the water circuit. The distance sensor 64 accurately verifies the docking distance to ensure docking reliability and sealing, and avoid water leakage or failure to add or drain water due to improper docking.

[0049] like Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 8As shown, the drying mechanism is located on the lower exterior of the side of the chassis 1 near the sewage tank 3. The drying mechanism includes a jet frame plate 21 slidably mounted between the bottom ends of two suspension brackets 8. A rubber plate is detachably connected to the side of the jet frame plate 21 away from the chassis 1 via bolts. Slider blocks 22 are fixedly connected to both sides of the top of the jet frame plate 21. A groove 23 is formed along the length of the bottom of the suspension bracket 8 on the side away from the chassis 1, and the slider 22 slides in conjunction with the groove 23. Both the groove 23 and the slider 22 have dovetail or T-shaped cross-sections. Dampers 66 are installed between the jet frame plate 21 and both sides of the suction squeegee 9. The outer shell of 6 is fixedly connected to the jet frame plate 21, and the telescopic end is fixedly connected to the water suction squeegee 9. Both sides of the top of the jet frame plate 21 are fixedly connected to the air duct 3 24. Both ends of the rear top of the walking chassis 1 are fixedly connected to the air duct 26 via the fixing bracket 25. The outlet end of the air duct 26 and the inlet end of the air duct 3 24 are detachably connected to the corrugated pipe 27. The inlet ends of the two air ducts 26 are fixedly connected to the three-way valve 28. The inlet end of the three-way valve 28 is fixedly connected to the straight pipe 29. The middle of the S-shaped connecting pipe 33 is fixedly connected to the pressure sensor 63. The pressure sensor 63 and the electric push rod 42 are electrically connected to the intelligent control module 60.The recycling mechanism, located inside the recycling bin 2, works in conjunction with the drying mechanism. The recycling mechanism includes an opening 30 at the rear top of the recycling bin 2, and a filter screen 31 detachably connected to the top of the opening 30 by bolts. A top cover 32 is fixedly mounted on the top of the filter screen 31. An S-shaped connecting pipe 33 is fixedly connected to the right top of the top cover 32. An air duct 65 is detachably connected to the outlet end of the S-shaped connecting pipe 33 via a flange. A reversing valve 34 is fixedly connected to the outlet end of the air duct 65. 34 is a three-way directional control valve. One outlet of the directional control valve 34 is fixedly connected to the inlet of the straight pipe 29, and the other outlet extends to the lower interior of the sewage tank 3. The directional control valve 34 can only selectively open one of its outlets. U-shaped pipes 36 are fixedly connected to both sides of the inner top wall of the sewage tank 3 via hangers 35. The inlet ends of the two U-shaped pipes 36 are connected to the inlet end of the directional control valve 34 located at the lower interior of the sewage tank 3 via a three-way valve 37. A horizontal jet pipe 38 is fixedly connected to the outlet ends of both U-shaped pipes 36. 38 is horizontally positioned on both sides below the interior of the wastewater tank 3. The recycling mechanism also includes a flow guide baffle 39 fixedly connected to the upper interior of the recycling tank 2. A channel 40 is opened through the flow guide baffle 39 on the side near the top cover 32. A mounting base 41 is fixedly connected to the inner top wall of the recycling tank 2 on the side away from the filter screen plate 31. An electric push rod 42 is fixedly connected to the side of the mounting base 41 away from the filter screen plate 31. The output shaft of the electric push rod 42 is fixedly connected to an upper sealing plate 44 through a fixed base 43. The upper sealing plate 44 is located away from the fixed base 43. A connecting plate 45 is fixedly connected to the bottom of one side of the container. A lower sealing plate 46 is fixedly connected to the bottom of the connecting plate 45. The upper sealing plate 44 and the lower sealing plate 46 are parallel to each other. Sealing plates are fixedly connected to the opposite sides of the upper sealing plate 44 and the lower sealing plate 46 to enhance the sealing effect and prevent air leakage when the upper sealing plate 44 and the lower sealing plate 46 press against the channel 40. An air inlet is opened through the front side of the recycling box 2. A baffle is detachably connected to the outside of the air inlet, and a cooling fan 47 is detachably connected to the inside by bolts.

[0050] Preferably, the area of ​​the filter plate 31 is larger than the opening area of ​​the channel 40 of the flow guide baffle 39, and the widths of the upper sealing plate 44 and the lower sealing plate 46 are both larger than the width of the channel 40. The upper sealing plate 44 and the lower sealing plate 46 move synchronously under the drive of the electric push rod 42 to adjust the open area of ​​the channel 40.

[0051] Preferably, the pressure sensor 63 monitors the airflow pressure in the S-shaped connecting pipe 33 in real time and transmits the pressure signal to the intelligent control module 60. The intelligent control module 60 has a preset pressure threshold. When the detected pressure value is lower than the preset threshold, the intelligent control module 60 determines that the filter screen 31 is blocked and controls the electric push rod 42 to move.

[0052] Preferably, the lower part of the jet pipe 38 is provided with several air outlets, which are set towards the inner bottom wall of the sewage tank 3, so as to directly spray the blown air to the bottom sediment position of the sewage tank 3.

[0053] In this embodiment, the heat generated by the operation of the brushless motor 7, the water pump 48 and the sewage pump 49 is recovered and utilized by the cooling fan 47, forming hot air which is then filtered and sent into the jet frame plate 21, realizing the secondary utilization of heat energy and effectively reducing the energy consumption of the whole machine. The hot air performs secondary drying on the ground after being treated by the squeegee 9, ensuring that the ground is washed and dried immediately, and preventing the risk of slippery conditions.

[0054] Secondly, the filter plate 31 adopts a half-width working surface design, which, together with the pressure sensor 63, monitors the pressure difference on both sides of the filter in real time. When the filter is clogged and the pressure drops to the set threshold, the electric push rod 42 automatically pushes the sealing plate to fully open the clean half-width of the filter surface, allowing hot air to pass through both the clogged area and the clean area at the same time, greatly increasing the effective filtration area to restore normal filtration flow and pressure, and significantly extending the continuous operation time.

[0055] Furthermore, the jet frame plate 21, through the cooperation of the slider 22 and the slide groove 23 and the damper 66, can adaptively float during a collision, effectively protecting the jet frame plate 21 and surrounding components from rigid impact damage.

[0056] like Figure 1 , Figure 2 and Figure 10 As shown, the control box 5 is fixedly connected to the top of the recycling bin 2 on the side away from the sewage tank 3. The control box 5 is equipped with an intelligent control component, which includes a mounting bracket 57 fixedly connected to the middle of the top of the recycling bin 2, and a laser radar 58 fixedly connected to the top of the mounting bracket 57. A battery module 59 and an intelligent control module 60 are fixedly connected to both sides of the inner bottom wall of the control box 5, respectively. A binocular camera 61 is fixedly connected to the upper front side of the recycling bin 2. Several ultrasonic sensors 62 are evenly distributed and fixedly connected to the side wall of the chassis 1 along the circumference. A distance sensor 64 is also fixedly connected to the upper side of the sewage tank 3 on the side away from the recycling bin 2. The distance sensor 64 is a laser rangefinder or an infrared rangefinder in the prior art.

[0057] As a preferred embodiment, the intelligent control module 60 adopts an embedded industrial control motherboard, which integrates a path planning algorithm, a sensor data fusion processing unit, and a motion control unit. The intelligent control module 60 is connected to the lidar 58, binocular camera 61, ultrasonic sensor 62, distance sensor 64, pressure sensor 63, liquid level sensor 1 54, liquid level sensor 2 55, drive motor, steering motor, brushless motor 7, water pump 48, sewage pump 49, cooling fan 47, electric push rod 42, reversing valve 34, and workstation for receiving detection signals from each sensor and outputting control commands.

[0058] Furthermore, the intelligent control module 60 communicates with the workstation via a wireless communication module or a wired communication interface. The wireless communication module can be a WiFi module, Bluetooth module, or ZigBee module, and the wired communication interface can be a CAN bus interface or an RS485 interface. When the intelligent control module 60 determines that the distance between the walking chassis 1 and the workstation has reached the set value, the intelligent control module 60 sends a start command to the workstation via the wireless communication module or the wired communication interface to control the workstation to start the automatic water filling and automatic drainage steps, and receives the water filling and drainage progress signals fed back by the workstation.

[0059] Furthermore, the workstation is equipped with a clean water supply pipeline, a wastewater recovery pipeline, two blind-connected pipes, and a workstation control unit. The clean water supply pipeline is connected to one of the blind-connected pipes and is equipped with a clean water delivery pump and a clean water on / off valve. The wastewater recovery pipeline is connected to the other blind-connected pipe and is equipped with a wastewater delivery pump and a wastewater on / off valve. The workstation control unit is connected to the clean water delivery pump, the clean water on / off valve, the wastewater delivery pump, and the wastewater on / off valve respectively. The workstation control unit is used to receive the start command sent by the intelligent control module 60, and according to the command, controls the clean water delivery pump and the clean water on / off valve to open to supply clean water, or controls the wastewater delivery pump and the wastewater on / off valve to open to recover wastewater, thereby completing the automatic water filling and automatic drainage operations.

[0060] Preferably, the battery module 59 is a rechargeable lithium battery pack. The battery module 59 is electrically connected to the drive motor, steering motor, brushless motor 7, water pump 48, sewage pump 49, cooling fan 47, electric push rod 42, reversing valve 34, lidar 58, binocular camera 61, ultrasonic sensor 62, distance sensor 64, pressure sensor 63, liquid level sensor 1 54, liquid level sensor 2 55 and intelligent control module 60, and is used to provide working power to the above-mentioned electrical components.

[0061] In this embodiment, the intelligent control module 60 automatically controls the workstation to complete the replenishment of clean water and the discharge of sewage, realizing fully unmanned operation. Moreover, during the drainage process, hot air is blown into the sewage tank 3 through the jet pipe 38 to form turbulence, which washes up and suspends the sludge and other sediments deposited at the bottom, and discharges them with the sewage. This effectively prevents the long-term accumulation and scaling of sludge, ensures the cleanliness of the inside of the sewage tank 3, and extends the equipment maintenance cycle and service life.

[0062] Working Principle: When the unmanned floor scrubber is working, it first enters the unmanned floor scrubbing process. The intelligent control module 60 plans the travel path based on the perception data of the lidar 58, binocular camera 61, and ultrasonic sensor 62, and controls the drive motor to drive the drive wheels to rotate. At the same time, it controls the steering motor to drive the steering wheels to deflect and achieve steering. The drive wheels and steering wheels work together to drive the walking chassis 1 to move the whole machine according to the planned path. At the same time, the brushless motor 7 drives the cleaning component 6 to rotate at high speed through the transmission device. The cleaning component 6 includes a disc brush arranged side by side on the lower front side of the walking chassis 1. When the disc brush rotates, it rotates and scrubs the ground. The clean water pump 48 draws clean water from the clean water tank 4 through the water pipe 51 and supplies it to the cleaning component 6 through the water outlet pipe 50. Water is delivered to the disc brush to wet the bristles. The disc brush cleans the floor using wet scrubbing. The wastewater generated after scrubbing is collected by the squeegee 9. The sewage pump 49 discharges the wastewater collected by the squeegee 9 into the sewage tank 3 through the sewage pipe 52 and the sewage pipe 53. At the same time, the jet frame plate 21 slides along the slide groove 23 of the suspension bracket 8 via the slider 22. When the chassis 1 collides or encounters an obstacle, the jet frame plate 21 floats adaptively relative to the squeegee 9 under the buffering effect of the damper 66 to absorb impact energy and avoid rigid damage. During the floor washing process, the recovery mechanism and the drying mechanism operate synchronously. The cooling fan 47 draws fresh air from outside into the recovery box 2 through the air inlet, flowing over the brushless motor 7, the water pump 48, and the sewage pump 49. The airflow carries the heat generated during operation. The hot air is then guided through the channel 40 of the baffle 39 to the filter plate 31. Filtering typically only occurs on a portion of the filter plate 31's surface. After filtering, impurities enter the S-shaped connecting pipe 33 via the top cover 32. The pressure sensor 63 monitors the airflow pressure within the S-shaped connecting pipe 33 in real time. As usage time increases, impurities accumulate on the filter plate 31, leading to a decrease in effective filtration area, increased airflow resistance, and a gradual decrease in the pressure value detected by the pressure sensor 63. When the pressure sensor 63 detects that the pressure inside the pipe has dropped to a set threshold, it indicates that the currently used surface area of ​​the filter plate 31 is mostly clogged with impurities. The intelligent control module 60 then controls the electric push... Rod 42 pushes the upper sealing plate 44 and the lower sealing plate 46 to move synchronously, so as to fully open the unused clean mesh surface of the filter screen plate 31, so that hot air can pass through the used area and the clean area of ​​the filter screen plate 31 at the same time, thereby greatly increasing the effective filtration area and restoring normal filtration flow and pressure; hot air enters the reversing valve 34 through the S-shaped connecting pipe 33 and the air duct 1 65. Under the control of the intelligent control module 60, the reversing valve 34 selects to send the hot air through the straight pipe 29 into the three-way valve 28, and then through the three-way valve 28 to the two air ducts 26, and then through the corrugated pipe 27 and the air duct 3 24 into the jet frame plate 21. The jet frame plate 21 sprays the hot air downwards to perform secondary drying treatment on the ground after being treated by the water absorber 9;As the floor cleaning process continues, level sensors 54 and 55 monitor the levels of the clean water tank 4 and wastewater tank 3 in real time. When the level in the clean water tank 4 is too low or the level in the wastewater tank 3 is too high, the docking process begins. The intelligent control module 60 controls the walking chassis 1 to return to the external workstation, allowing the docking components 12 of the clean water tank 4 and the wastewater tank 3 to dock with the two blind insertion pipes of the workstation. The two blind insertion pipes are inserted into the two valve bodies 13 and open the valve cores 15, allowing the valve bodies 13 to communicate with the clean water tank 4 and the wastewater tank 3 through the through holes 20. At this time, the distance sensor 64 measures the distance between the walking chassis 1 and the workstation. When the distance reaches the set value, the intelligent control module 60 determines that the docking is complete. After docking, the water filling and drainage process begins. The intelligent control module 60 controls the workstation to start the automatic water filling step, and clean water is added to the clean water tank 4 through the docking components 12 and the through holes 20. Within 4, simultaneously, the intelligent control module 60 controls the workstation to initiate the automatic drainage process. The intelligent control module 60 also controls the reversing valve 34 to switch hot air through another outlet extending into the sewage tank 3 to the three-way valve 37, then diverts it to two U-shaped pipes 36 before blowing air into the sewage tank 3 through the jet pipe 38. During the drainage process, the blown air continuously enters the sewage tank 3 to agitate the sewage, thereby flushing up sludge and other sediments deposited at the bottom of the sewage tank 3 and suspending them in the sewage. These sediments are then extracted along with the sewage through the docking assembly 12 and through-hole 20 of the sewage tank 3, preventing sediment from accumulating at the bottom of the tank and failing to drain. The process continues until the level sensor 54 detects that the water level in the clean water tank 4 has reached its upper limit and the level sensor 55 detects that the water level in the sewage tank 3 has reached its lower limit. At this point, the intelligent control module 60 controls the workstation to stop adding water and draining water. Subsequently, the intelligent control module 60 controls the walking chassis 1 to exit the workstation and continue the floor cleaning operation.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned floor scrubber capable of automatically adding and draining water, characterized in that: include A walking chassis (1) is fixedly connected to a recycling bin (2) on one side of the top of the walking chassis (1). Wastewater tank (3), the wastewater tank (3) is fixedly connected to the top of the other side of the walking chassis (1), and a clean water tank (4) is provided at the top of the wastewater tank (3). A drying mechanism is located on the lower exterior side of the walking chassis (1) near the sewage tank (3); A recycling mechanism is located inside the recycling bin (2) and is used in conjunction with the drying mechanism; The control box (5) is fixedly connected to the top of the recycling box (2) on the side away from the sewage tank (3), and the control box (5) is equipped with intelligent control components.

2. The unmanned floor scrubber with automatic water filling and drainage according to claim 1, characterized in that: A cleaning component (6) is arranged side by side on the lower front side of the walking chassis (1). A brushless motor (7) is fixedly connected to the middle of the inner bottom wall of the recycling bin (2). The output shaft of the brushless motor (7) is connected to the cleaning component (6) in a transmission connection. Suspension brackets (8) are fixedly connected to both ends of the rear outer side of the walking chassis (1). A water suction squeegee (9) is fixedly connected between the bottom middle ends of the two suspension brackets (8). The water suction squeegee (9) is flush with the lower end face of the cleaning component (6).

3. The unmanned floor scrubber with automatic water filling and drainage according to claim 1, characterized in that: Mounting brackets (10) are fixedly connected to both ends of the rear top of the walking chassis (1) and both sides of the top of the sewage tank (3). Connecting brackets (11) are fixedly connected to both sides of the bottom of the sewage tank (3) and the clean water tank (4). The connecting brackets (11) are detachably connected to the mounting brackets (10) by bolts. A docking component (12) is provided on the upper part of the side of the sewage tank (3) away from the recycling tank (2) and on the lower part of the side of the clean water tank (4) away from the recycling tank (2). The docking component (12) is used to dock with an external workstation.

4. The unmanned floor scrubber with automatic water filling and drainage according to claim 3, characterized in that: The docking assembly (12) includes mounting holes respectively opened on the side of the sewage tank (3) and the clean water tank (4) away from the recycling tank (2). A valve body (13) is detachably connected to the mounting hole via a flange. A valve stem (14) is slidably fitted inside the valve body (13). A valve core (15) and a push block (16) are integrally formed at both ends of the valve stem (14). A boss one (17) is fixedly connected circumferentially on the inner wall of the valve body (13) near the push block (16). A boss two (18) is fixedly connected to the outer periphery of the middle part of the valve stem (14). A spring (19) is movably sleeved on the outside of the valve stem (14). The two ends of the spring (19) abut against the boss one (17) and the boss two (18) respectively. Several through holes (20) are evenly distributed on the outer periphery of the middle part of the valve body (13).

5. The unmanned floor scrubber with automatic water filling and drainage according to claim 2, characterized in that: The drying mechanism includes a jet frame plate (21) slidably disposed between the bottom ends of two suspension brackets (8). Slider blocks (22) are fixedly connected to both sides of the top of the jet frame plate (21). A groove (23) is provided along the length direction on the bottom side of the suspension bracket (8) away from the walking chassis (1). The slider (22) slides in cooperation with the groove (23). A damper (66) is provided between the jet frame plate (21) and both sides of the squeegee (9). The outer shell of the damper (66) is fixedly connected to the jet frame plate (21). The telescopic end is fixedly connected to the squeegee (9). Both sides of the top of the jet frame plate (21) are fixedly connected to the air duct three (24). Both ends of the rear top of the walking chassis (1) are fixedly connected to the air duct two (26) through the fixing frame (25). The outlet end of the air duct two (26) and the inlet end of the air duct three (24) are detachably connected to the corrugated pipe (27). The inlet ends of the two air duct two (26) are fixedly connected to the three-way valve two (28). The inlet end of the three-way valve two (28) is fixedly connected to the straight pipe (29).

6. The unmanned floor scrubber with automatic water filling and drainage according to claim 5, characterized in that: The recycling mechanism includes an opening (30) at the rear top of the recycling bin (2), and a filter screen (31) detachably connected to the top of the opening (30) by bolts. The top of the filter screen (31) is fixedly covered with a top cover (32). An S-shaped connecting pipe (33) is fixedly connected to the top right side of the top of the top cover (32). The outlet end of the S-shaped connecting pipe (33) is detachably connected to a duct (65) via a flange. The outlet end of the duct (65) is fixedly connected to a reversing valve (34). One outlet end of the reversing valve (34) is connected to... The inlet end of the straight pipe (29) is fixedly connected to the other outlet end, which extends to the lower interior of the sewage tank (3). Both sides of the inner top wall of the sewage tank (3) are fixedly connected to U-shaped pipes (36) by hangers (35). The inlet ends of the two U-shaped pipes (36) are connected to the inlet end of the reversing valve (34) located at the lower interior of the sewage tank (3) by a three-way valve (37). The outlet ends of the two U-shaped pipes (36) are fixedly connected to horizontal jet pipes (38). The jet pipes (38) are horizontally arranged at the lower interior of the sewage tank (3).

7. The unmanned floor scrubber with automatic water filling and drainage according to claim 6, characterized in that: The recycling mechanism also includes a flow guide baffle (39) fixedly connected to the upper part of the recycling box (2). The flow guide baffle (39) has a channel (40) through it on the side near the top cover (32). The inner top wall of the recycling box (2) away from the filter screen (31) is fixedly connected to a mounting base (41). The mounting base (41) is fixedly connected to an electric push rod (42) on the side away from the filter screen (31). The output shaft of the electric push rod (42) is fixedly connected to an upper sealing plate (44) through a fixing base (43). The bottom of the upper sealing plate (44) away from the fixing base (43) is fixedly connected to a connecting plate (45). The bottom end of the connecting plate (45) is fixedly connected to a lower sealing plate (46). The front side of the recycling box (2) has an air inlet through it. The outer side of the air inlet is detachably connected to a baffle, and the inner side is detachably connected to a cooling fan (47) by bolts.

8. The unmanned floor scrubber with automatic water filling and drainage according to claim 2, characterized in that: A water purification pump (48) and a sludge suction pump (49) are fixedly connected to the inner bottom wall of the recycling bin (2) on the left and right sides of the brushless motor (7), respectively. The outlet end of the water purification pump (48) is fixedly connected to the inlet end of the cleaning component (6) through the outlet pipe (50). The water purification tank (4) is connected to the cleaning component (6) through the water purification pump (48) to supply clean water. A water suction pipe (51) is fixedly connected to the inlet end of the water purification pump (48). The inlet end of the water suction pipe (51) is fixedly connected to the outlet end of the water purification tank (4). The inlet end of the sludge suction pump (49) is fixedly connected to the outlet end of the sludge suction squeegee (9) through the sewage pipe (52). The sewage tank (3) is connected to the squeegee (9) via a sludge pump (49) to recycle sewage. The outlet end of the sludge pump (49) is fixedly connected to the inlet end of the sewage tank (3) via a drain pipe (53). The front top of the clean water tank (4) and the sewage tank (3) are fixedly connected to a level sensor 1 (54) and a level sensor 2 (55). The detection end of the level sensor 1 (54) extends into the interior of the clean water tank (4), and the detection end of the level sensor 2 (55) extends into the interior of the sewage tank (3). An exhaust valve (56) is also fixedly connected to the upper part of the side of the sewage tank (3) away from the recycling tank (2).

9. The unmanned floor scrubber with automatic water filling and drainage according to claim 1, characterized in that: The intelligent control component includes a mounting bracket (57) fixedly connected to the top center of the recycling bin (2), and a laser radar (58) fixedly connected to the top of the mounting bracket (57). A battery module (59) and an intelligent control module (60) are fixedly connected to the inner bottom wall of the control box (5), respectively. A binocular camera (61) is fixedly connected to the upper front side of the recycling bin (2). Several ultrasonic sensors (62) are evenly distributed and fixedly connected to the side wall of the walking chassis (1) along the circumference. A distance sensor (64) is also fixedly connected to the upper side of the sewage tank (3) away from the recycling bin (2).

10. The unmanned floor scrubber with automatic water filling and drainage according to claim 7, characterized in that: A pressure sensor (63) is fixedly connected to the middle of the S-shaped connecting pipe (33), and the pressure sensor (63) and the electric push rod (42) are electrically connected to the intelligent control module (60).

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