AGV (Automatic Guided Vehicle) guide ground washing device and system capable of being charged and changing water

Abstract

The utility model discloses an AGV guided ground washing device and system capable of being charged and changing water, and relates to the technical field of ground washing machines, and the AGV guided ground washing device comprises an AGV and a ground washing robot connected to the AGV; the floor washing robot comprises a robot body. The robot body is connected with a charging head device, and the AGV is connected with a charging device which is in butt joint with the charging head device and used for supplying power to the floor washing robot. The robot body can freely move under the driving action of the AGV; by arranging the charging head device connected with the robot body and the charging device connected with the AGV, when the robot body is connected to the upper portion of the AGV, the charging head device is in butt joint with the charging device, so that the AGV supplies power to the robot body, the robot body can keep sufficient power in the running period, multiple times of return voyage for charging are not needed, and the charging efficiency is improved. And the power utilization requirement and the operation requirement of the robot body are met, so that the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of floor scrubbers, and specifically relates to an AGV-guided floor scrubbing device and system that can be charged and water-changed. Background Art

[0002] A "dark factory" means that after turning off the lights in the working area, the factory is completely handed over to robots for management; the entire process from preparing raw materials into finished products, including the processing, transportation and testing of raw materials, is completed in an empty space. In order to adapt to the fully automated operation mode of the "dark factory", the cleaning work originally done by manual labor will also be completed by floor cleaning robots.

[0003] However, during use, the existing floor scrubber robots require additional charging stations for charging and water supply to the floor scrubber robots. Charging piles and water supply mechanisms are set up in the charging stations, and identification parts that can be scanned and identified by the floor scrubbers for easy positioning and matching of the charging piles are also set up. During use, the floor scrubbers determine the position of the charging piles by scanning the identification parts and dock with the charging piles. In addition, when the water supply to the floor scrubber is insufficient, the water supply mechanism needs to supply water to the floor scrubbers.

[0004] Therefore, when the power supply or water supply of the floor scrubber is insufficient, it needs to return to the supply station for charging in time, which requires repeated round trips during operation, affecting the operation efficiency; and because the water tank of the floor scrubber lacks water, the floor scrubber brush is seamlessly in contact with the ground, which easily leads to dry friction between the floor scrubber brush and the ground, and the stains on the floor scrubber brush cannot be washed away in time, which not only easily leads to wear of the floor scrubber brush, but also the brush cannot stay away from the ground on the way back, causing a large area of ​​the cleaned area to be contaminated again. Utility Model Content

[0005] The present application provides a rechargeable and water-changeable AGV guided floor washing device and system to solve the above-mentioned technical problems of untimely power supply affecting the working progress, untimely water supply causing brush wear, and the inability to adjust the height of the brush in contact with the ground, causing secondary contamination of the cleaning area on the return journey of the floor washing machine.

[0006] The technical solution adopted in this application is:

[0007] A rechargeable and water-changeable AGV-guided floor-cleaning device comprises an AGV vehicle and a floor-cleaning robot connected to the AGV vehicle; the floor-cleaning robot comprises a robot body; the robot body is connected to a charging head device, and the AGV vehicle is connected to a charging device docked with the charging head device for supplying power to the floor-cleaning robot.

[0008] The AGV guided floor washing device of the present application which can be charged and water-changed also has the following additional technical features:

[0009] The charging head device includes a charging bracket, a charging seat and multiple charging end components; the charging bracket is connected to the robot body, and the charging seat is slidably connected to the charging bracket via a first linear guide rail. Both sides of the sliding direction of the charging seat are elastically connected to the charging bracket via a first elastic component, and the multiple charging end components are elastically connected to the charging seat in a direction perpendicular to the sliding direction of the charging seat.

[0010] The charging end assembly includes a charging head, a guide sleeve and a first spring; the guide sleeve has a fixed end connected to the charging base and a guide end extending outside the charging base; the charging head is elastically connected to the guide sleeve through the first spring, and the charging head has an extended end extending outside the guide end, and the extended end can slide along the axial direction of the guide sleeve under the elastic action of the first spring.

[0011] The charging device includes a power connection bracket, a power connection socket and a power connection terminal assembly; the power connection bracket is connected to the AGV vehicle, the power connection socket is connected to the outside of the power connection bracket through a second linear guide rail, both sides of the power connection socket in the sliding direction are elastically connected to the power connection bracket through a second elastic assembly, and the power connection terminal assembly is connected to the outside of the power connection socket.

[0012] The power connection terminal assembly includes a power connection housing and a plurality of power connection heads connected to the power connection housing and arranged along the sliding direction of the power connection seat for docking with the charging head.

[0013] The robot body is also connected to a brushing device; the brushing device includes a lifting mechanism connected to the robot body and a brush plate mechanism connected to the lifting mechanism, and the brush plate mechanism is driven by the lifting mechanism to move vertically so that the distance of the brush plate mechanism relative to the ground can be adjusted.

[0014] The brush plate mechanism comprises a pipeline support, a squeegee and a brush plate assembly; the pipeline support is connected between the lifting mechanism and the brush plate assembly;

[0015] The brush plate assembly includes a protective cover and a brush plate rotatably connected to the protective cover; the protective cover is provided with a water suction port, and the squeegee has an inner cavity connected to the water suction port, and the inner cavity can form a negative pressure so that the water gathered by the rotating movement of the brush plate is sucked into the water suction port through the inner cavity.

[0016] The robot body includes a water changing device; the water changing device includes a support frame and a clean water treatment device and a sewage treatment device connected to the support frame;

[0017] The clean water treatment device comprises a clean water tank and a water outlet pipe connected to the clean water tank, the water outlet pipe has a clean water outlet, and the water outlet pipe is provided with a solenoid valve for controlling the water output of the clean water outlet;

[0018] The sewage treatment device includes a sewage tank, a vacuum tube connected to the sewage tank, and a vacuum pump arranged on the vacuum tube. The sewage tank has a sewage inlet connected to the water suction port through a pipeline. By starting the vacuum pump, sewage flows from the water suction port into the sewage inlet.

[0019] The floor cleaning robot also includes a protective shell; the protective shell has a housing cavity for accommodating the robot body; the protective shell has a positioning pin connected to the AGV vehicle; a brush plate reserved opening is opened on one side of the running direction of the protective shell, and the protective shell also has a water inlet for injecting clean water and a sewage outlet for discharging sewage, as well as a charging opening for the charging device to complete the docking with the charging head device.

[0020] The present application also relates to a rechargeable, water-changeable AGV guided floor washing system, based on the above-mentioned rechargeable, water-changeable AGV guided floor washing device, including a positioning seat and the rechargeable, water-changeable AGV guided floor washing device; the positioning seat has a first positioning seat and a second positioning seat arranged at a relative preset distance, the first positioning seat and the second positioning seat are respectively connected to the ground by anchor bolts, and the top surfaces of the first positioning seat and the second positioning seat are used to support and connect the protective shell.

[0021] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0022] 1. An AGV guided floor scrubber that can be charged and water exchanged, comprising an AGV vehicle and a floor scrubber robot connected to the AGV vehicle; the floor scrubber robot comprises a robot body; the robot body is connected to a charging head device, and the AGV vehicle is connected to a charging device that is docked with the charging head device and is used to power the floor scrubber robot. The robot body is connected to the top of the AGV vehicle, so that the robot body can move freely under the driving action of the AGV vehicle to clean the dirty ground; by setting the charging head device connected to the robot body and the charging device connected to the AGV vehicle, when the robot body is connected to the top of the AGV vehicle, the charging head device docks with the charging device, so that the AGV vehicle powers the robot body. Since the AGV vehicle and the robot body work together, the robot body can keep sufficient power during operation, without the need to return to the home position for charging multiple times, so as to meet the power consumption and operation requirements of the robot body, thereby improving the operation efficiency and cleaning efficiency.

[0023] 2. As a preferred embodiment of the present application, the charging head device includes a charging bracket, a charging seat and a plurality of charging end components; the charging bracket is connected to the robot body, the charging bracket is slidably connected with the charging seat through a first linear guide, the two sides of the sliding direction of the charging seat are elastically connected to the charging bracket through a first elastic component, and the plurality of charging end components are elastically connected to the charging bracket in a direction perpendicular to the sliding direction of the charging seat. By setting the first linear guide, the charging seat can be linearly slid along the inside of the charging bracket, and the distance between the charging seat and the charging bracket can be adjusted. Since the first elastic component is elastically connected on both sides of the sliding direction of the charging seat, when the charging seat is adjusted in the lateral distance relative to the charging bracket, it can always be fixed in the charging bracket under the elastic force of the first elastic component. Since the charging head device needs to be docked with the charging device, in order to ensure that the charging head device and the charging device are accurately docked and avoid docking deviation, the first elastic component and the first linear guide are used to realize that the charging seat drives the charging end component to slide in the lateral direction to align the position with the charging device below.

[0024] 3. As a preferred embodiment of the present application, the charging terminal assembly includes a charging head, a guide sleeve and a first spring; the guide sleeve has a fixed end connected to the charging seat and a guide end extending outside the charging seat; the charging head is elastically connected to the guide sleeve through the first spring, and the charging head has an extended end extending outside the guide end, and the extended end can slide along the axial direction of the guide sleeve under the elastic action of the first spring. A first spring is provided in the charging terminal assembly, and the charging head is slid along the axial direction of the guide sleeve by the first spring, in order to achieve accurate docking of the charging head with the charging device. Since the height deviation may occur between the charging device and the charging head during the docking process, the charging head can adapt to charging devices of different heights by adjusting the height of the charging head relative to the charging device, thereby achieving accurate docking of the charging head with the charging device.

[0025] 4. As a preferred embodiment of the present application, the charging device includes a power connection bracket, a power connection seat and a power connection terminal assembly; the power connection bracket is connected to the AGV vehicle, the power connection seat is connected to the outside of the power connection bracket through a second linear guide rail, the two sides of the sliding direction of the power connection seat are elastically connected to the power connection bracket through a second elastic assembly, and the power connection terminal assembly is connected to the outside of the power connection seat. By setting the second linear guide rail, the power connection seat can slide longitudinally outside the power connection bracket, and the power connection seat is connected to the power connection terminal assembly for docking with the charging head, so that the distance of the power connection terminal assembly relative to the charging head in the longitudinal direction can be adjusted to avoid the charging device and the charging head from being unable to complete docking due to processing errors and other reasons, and further improve the precise docking between the charging device and the charging head device.

[0026] 5. As a preferred embodiment of the present application, the robot body is also connected to a scrubbing device; the scrubbing device includes a lifting mechanism connected to the robot body and a brush plate mechanism connected to the lifting mechanism, and the brush plate mechanism is driven by the lifting mechanism to move vertically so that the distance of the brush plate mechanism relative to the ground can be adjusted. The brush plate mechanism in the brush plate device of the present application can be raised to a certain height relative to the ground under the drive of the lifting mechanism, so that after the brush plate mechanism scrubs the ground, it can be driven by the lifting mechanism to detach from the ground, avoiding the stains of the brush plate mechanism from contaminating the ground, and can also ensure that the brush plate mechanism will not cause secondary pollution to the cleaned area on the ground due to detachment from the ground during the return of the floor scrubber robot; and the brush plate mechanism can be separated from the ground by a certain gap, which can achieve a good ventilation effect for the brush plate mechanism, avoid the growth of bacteria, and effectively extend the service life of the floor scrubber robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0028] Figure 1 This is a schematic diagram of the overall structure of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of the overall structure of a rechargeable and water-changing AGV guided floor scrubbing device connected to a protective shell in one embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the overall structure of a charging device for a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0031] Figure 4 A schematic diagram of the overall internal structure of a charging device of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0032] Figure 5 for Figure 4 AA cross-section diagram of ;

[0033] Figure 6 This is a schematic diagram of the overall structure of an AGV vehicle of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0034] Figure 7 This is a schematic diagram of the overall structure of a charging head device of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0035] Figure 8 This is a schematic diagram of the overall internal structure of a charging head device of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0036] Fig. 9 This is a schematic diagram of the main structure of a charging head device of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0037] Fig.10 This is a schematic diagram of the overall structure of a clean water treatment device of a water changing device of a rechargeable water changing AGV guided floor washing device according to an embodiment of the present application;

[0038] Fig.11 This is a schematic diagram of the overall structure of a sewage treatment device of a water changing device of a rechargeable water changing AGV guided floor washing device according to an embodiment of the present application;

[0039] Fig.12 This is a schematic diagram of the overall structure of a support frame of a water changing device of a rechargeable water changing AGV guided floor washing device according to an embodiment of the present application;

[0040] Fig.13 This is a schematic diagram of the overall structure of a water changing device of a rechargeable water changing AGV guided floor washing device according to an embodiment of the present application;

[0041] Fig.14 It is a schematic diagram of the overall structure of a scrubbing device of a rechargeable and water-changing AGV guided scrubbing device according to an embodiment of the present application from one angle;

[0042] Fig.15 This is a schematic diagram of the overall structure of a scrubbing device of a rechargeable and water-changing AGV-guided scrubbing device according to an embodiment of the present application from another angle;

[0043] Fig.16 This is a schematic diagram of the overall structure of a positioning seat of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application;

[0044] Fig.17 This is a schematic diagram of the overall structure of a protective shell of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application at one angle;

[0045] Fig.18 This is a schematic diagram of the overall structure of a protective shell of a rechargeable and water-changing AGV guided floor scrubbing device according to an embodiment of the present application from another angle;

[0046] In the figure,

[0047] 1. AGV vehicle; 2. Floor cleaning robot; 3. Robot body;

[0048] 4. Charging head device; 41. Charging bracket; 42. Charging seat; 421. Transverse connecting plate; 422. Charging shell; 43. Charging end assembly; 431. Charging head; 432. Guide sleeve; 433. First spring; 44. First elastic assembly; 441. Transverse guide rod; 442. First elastic retaining ring; 443. Transverse spring; 45. First linear guide rail;

[0049] 5. Charging device; 51. Power connection bracket; 52. Power connection socket; 53. Power connection terminal assembly; 531. Power connection housing; 532. Power connection head; 54. Second linear guide rail; 55. Second elastic assembly; 551. Longitudinal guide rod; 552. Longitudinal spring; 553. Second elastic retaining ring;

[0050] 6. Brushing device; 61. Lifting mechanism; 611. Lifting bracket; 612. Lifting electric cylinder; 62. Brush plate mechanism; 621. Pipeline bracket; 622. Squeegee; 623. Brush plate assembly; 6231. Protective cover; 6232. Brush plate;

[0051] 7. Water inlet;

[0052] 8. Water exchange device; 81. Support frame; 82. Clean water treatment device; 821. Clean water tank; 822. Water outlet pipe; 823. Solenoid valve; 83. Sewage treatment device; 831. Sewage tank; 832. Vacuum pump; 833. Vacuum tube;

[0053] 9. Sewage inlet;

[0054] 10. Sewage outlet;

[0055] 11. Positioning seat; 111. First positioning seat; 112. Second positioning seat;

[0056] 12. Nylon cover; 13. Positioning pin hole; 14. Positioning pin; 15. First sensor; 16. Clean water inlet; 17. Clean water outlet; 18. Clean water tank observation window; 19. Sewage tank observation window; 20. Second water level sensor; 21. Drain valve; 22. Clean water filling port; 23. Protective shell; 24. Water inlet; 25. Brush plate reserved opening; 26. Sewage outlet; 27. Ventilation opening; 28. Charging opening; 29. ​​Switch window; 30. Through hole; 31. Brush plate motor; 32. Sewage pipe hook. DETAILED DESCRIPTION

[0057] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0058] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0059] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0060] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0061] In the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "implementation method", "example", "one embodiment", "example" or "specific example" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0062] The present application relates to an AGV guided floor washing device that can be charged and water-changed, such as Figure 1-18 As shown, it includes an AGV vehicle 1 and a floor cleaning robot 2 connected to the AGV vehicle 1; the floor cleaning robot 2 includes a robot body 3; the robot body 3 is connected to a charging head device 4, and the AGV vehicle 1 is connected to a charging device 5 that is docked with the charging head device 4 and is used to power the floor cleaning robot 2.

[0063] It is worth noting that Figure 6As shown, the AGV vehicle 1, also known as the automatic guided vehicle 1, is an industrial vehicle 1 that is automatically operated and driven by a battery. The running path and destination can be controlled by a management program, and the vehicle has strong maneuverability. The vehicle has high station recognition capability and positioning accuracy, and has the ability to coordinate with various equipment. With the support of the communication system and the scheduling of the management system, the vehicle can realize flexible control of logistics.

[0064] The existing floor scrubber robot 2 is charged and supplied with water by an additional supply station, so the floor scrubber robot 2 needs to return to the supply station from the working position in time for charging when the power is insufficient, and return to the supply station from the working position in time for changing water when the water supply is insufficient. The cleaning process needs to be interrupted many times, which not only affects the cleaning efficiency, but also causes secondary pollution of the ground by the brush used for washing on the way back. Therefore, by setting a charging head device 4 connected to the robot body 3 and a charging device 5 connected to the AGV vehicle 1, when the robot body 3 is connected to the top of the AGV vehicle 1, the charging head device 4 is docked with the charging device 5, so that the AGV vehicle 1 supplies power to the robot body 3. Since the AGV vehicle 1 and the robot body 3 work together, the robot body 3 can maintain sufficient power during operation, without returning to the supply station for charging many times, meeting the power requirements and operation requirements of the robot body 3, thereby improving the operation efficiency and cleaning efficiency. It is possible to realize charging while cleaning, without returning to the supply station many times, eliminating the need to set up the supply station, saving costs, and saving space.

[0065] As a preferred embodiment, Figure 3-5 As shown, the charging head device 4 includes a charging bracket 41, a charging seat 42 and a plurality of charging terminal components 43; the charging bracket 41 is connected to the robot body 3, and the charging seat 42 is slidably connected to the charging bracket 41 through a first linear guide 45, and the two sides of the sliding direction of the charging seat 42 are elastically connected to the charging bracket 41 through a first elastic component 44, and the plurality of charging end components 43 are elastically connected to the charging seat 42 in a direction perpendicular to the sliding direction of the charging seat 42.

[0066] By setting the first linear guide 45, the charging seat 42 can be slid linearly along the inside of the charging bracket 41, and the distance between the charging seat 42 and the charging bracket 41 can be adjusted. Since the first elastic components 44 are elastically connected on both sides of the sliding direction of the charging seat 42, when the lateral distance of the charging seat 42 relative to the charging bracket 41 is adjusted, it can always be fixed in the charging bracket 41 under the elastic force of the first elastic component 44. Since the charging head device 4 needs to be docked with the charging device 5, in order to ensure that the charging head device 4 and the charging device 5 are accurately docked and avoid docking deviation, the first elastic component 44 and the first linear guide 45 are used to realize that the charging seat 42 drives the charging end component 43 to slide horizontally to align the position with the charging device 5 below.

[0067] As a preferred embodiment, Figure 4-5 As shown, the charging end assembly 43 includes a charging head 431, a guide sleeve 432 and a first spring 433; the guide sleeve 432 has a fixed end connected to the charging seat 42 and a guide end extending out of the charging seat 42; the charging head 431 is elastically connected to the guide sleeve 432 through the first spring 433, and the charging head 431 has an extended end extending out of the guide end, and the extended end can slide along the axial direction of the guide sleeve 432 under the elastic action of the first spring 433.

[0068] A first spring 433 is provided in the charging end assembly 43, and the charging head 431 is slid along the axial direction of the guide sleeve 432 by the first spring 433, so as to achieve accurate docking of the charging head 431 with the charging device 5. Since the charging device 5 and the charging head 431 may have height deviations during the docking process, the height of the charging head 431 relative to the charging device 5 is adjustable, so that the charging head 431 can adapt to charging devices 5 of different heights, thereby achieving accurate docking of the charging head 431 with the charging device 5.

[0069] Specifically, the guide sleeve 432 has a mounting hole for connecting the charging head 431, the mounting hole has a limiting step, the charging head 431 is inserted into the mounting hole and extends outside the guide end, and the charging head 431 has an annular boss that can abut against the limiting step; the first spring 433 is sleeved on the outside of the charging head 431, one end of the first spring 433 abuts against the annular boss, and the other end abuts against the inner wall of the guide sleeve 432 that is axially close to the charging seat 42. By setting the first spring 433 on the charging head 431, when the charging head 431 is subjected to an impact force in the axial direction, the first spring 433 can buffer the impact force, and in the process of docking the charging head 431 with the charging device 5, the phenomenon of being unable to dock due to errors such as processing can be avoided, and the height of the charging head 431 can be appropriately adjusted according to the height of the charging device 5 under the elastic action of the first spring 433 so as to adapt to the charging device 5.

[0070] In addition, a nylon cover 12 is connected to the connection position of the guide sleeve 432 in the charging seat 42. The nylon cover 12 can work together with the first spring 433 to buffer the impact force of the charging head 431 in the axial direction, thereby further improving the service life of the charging device 5.

[0071] Specifically, Figure 4 and Figure 5 As shown, the first elastic component 44 includes a transverse guide rod 441, a first elastic retaining ring 442 and a transverse spring 443; a first through hole is provided on the charging seat 42, and a second through hole is provided at a position corresponding to the through hole on the charging bracket 41, and the two ends of the transverse guide rod 441 along the axial direction are respectively installed in the first through hole and the second through hole, and the side of the transverse guide rod 441 close to the second through hole is connected with the first elastic retaining ring 442, which is used to block the transverse guide rod 441 and prevent the transverse guide rod 441 from sliding out of the second through hole along the axial direction, and a step is provided on the side of the transverse guide rod 441 close to the first through hole, and the radial size of the step is larger than that of the first through hole. The purpose is to prevent the transverse guide rod 441 from escaping from the first through hole. A transverse spring 443 is sleeved on the transverse guide rod 441. One end of the transverse spring 443 is connected to the charging seat 42, and the other end is connected to the first elastic retaining ring 442. By setting the transverse spring 443, the relative distance between the charging seat 42 and the charging bracket 41 can be adjusted. The charging seat 42 can move left and right along the sliding direction of the first linear guide rail 45 under the action of the first linear guide rail 45, and under the action of the elastic extrusion force of the transverse springs 443 symmetrically arranged on the left and right sides, the position of the charging seat 42 relative to the charging bracket 41 can be relatively fixed.

[0072] Furthermore, the charging seat 42 can be configured to include a connected transverse connecting plate 421 and a charging shell 422, wherein the transverse connecting plate 421 is a plate-like structure along the horizontal direction, and the charging shell 422 is a hollow cubic structure. The transverse connecting plate 421 is connected to the top of the charging shell 422, and a first linear guide rail 45 is connected to the inside of the charging shell 422. The first linear guide rail 45 is arranged along the extension direction of the transverse connecting plate 421, and the transverse connecting plate 421 is connected to the charging bracket 41 through the first linear guide rail 45.

[0073] As a preferred embodiment, Figure 7-9 As shown, the charging device 5 includes a power connection bracket 51, a power connection socket 52 and a power connection terminal assembly 53; the power connection bracket 51 is connected to the AGV vehicle 1, and the power connection socket 52 is connected to the outer side of the power connection bracket 51 through a second linear guide rail 54, and both sides of the sliding direction of the power connection socket 52 are elastically connected to the power connection bracket 51 through a second elastic assembly 55, and the power connection terminal assembly 53 is connected to the outer side of the power connection socket 52.

[0074] By setting a second linear guide rail 54, the power receiving seat 52 can slide longitudinally relative to the power receiving bracket 51. The power receiving seat 52 is connected to a power receiving terminal assembly 53 that is docked with the charging head 431, so that the distance between the power receiving terminal assembly 53 and the charging head 431 along the longitudinal direction can be adjusted, thereby avoiding the inability to complete the docking between the charging device 5 and the charging head 431 due to processing errors and other reasons, and further improving the precise docking between the charging device 5 and the charging head device 4.

[0075] Specifically, the second elastic component 55 includes a longitudinal guide rod 551, a longitudinal spring 552 and a second elastic retaining ring 553; one end of the longitudinal guide rod 551 is installed on the power receiving seat 52, and is connected to both sides of the power receiving seat 52 perpendicular to the length direction of the power receiving seat 52; the other end of the longitudinal guide rod 551 is installed on the power receiving seat 52 and extends outside the power receiving seat 52, and the second elastic retaining ring 553 is connected to the longitudinal guide rod 551, and the longitudinal spring 552 is sleeved on the longitudinal guide rod 551, and one end of the longitudinal spring 552 is abutted and connected to the power receiving seat The outer side of the bracket 51, the other end is abutted and connected to the second elastic retaining ring 553; the second linear guide rail 54 is used to drive the power socket 52 to move relative to the power socket bracket 51 in the longitudinal direction, adjust the longitudinal position of the charging device 5 relative to the charging head device 4, and be able to have a buffer space within a certain range in the front and rear directions of the AGV vehicle 1. The longitudinal spring 552 can buffer the power socket 52 when the AGV vehicle 1 is subjected to the impact force in the front and rear directions, prevent it from colliding with the power socket 51, thereby improving the safety performance of the AGV vehicle 1.

[0076] As a preferred embodiment, the power connection terminal assembly 53 includes a power connection housing 531 and a plurality of power connection heads 532 connected to the power connection housing 531 and arranged along the sliding direction of the power connection seat 52 for docking with the charging head 431 .

[0077] A plurality of power connection heads 532 are arranged in the power exchange shell of the power connection terminal assembly 53 . The power connection heads 532 have grooves and the size of the grooves needs to be compatible with the charging head 431 , so that the charging head 431 and the power connection heads 532 can be accurately connected.

[0078] It is worth noting that a through hole 30 is provided on the AGV vehicle 1 that passes through the top surface for threading cables, including but not limited to signal cables, power cables, etc. The cables in the AGV vehicle 1 are passed through the through hole in the AGV vehicle 1 and connected to the charging head device 4; and a positioning pin hole 13 is also provided on the side of the AGV vehicle 1 facing the robot body 3, which is connected to the positioning pin 14 of the protective shell 23 located on the outside of the robot body 3 described below. The protective shell 23 is placed above the AGV through the precise docking of the positioning pin 14 with the positioning pin hole 13, that is, the robot body 3 is connected to the AGV vehicle 1.

[0079] As a preferred embodiment, the robot body 3 is also connected to a brushing device 6; the brushing device 6 includes a lifting mechanism 61 connected to the robot body 3 and a brush plate mechanism 62 connected to the lifting mechanism 61, and the brush plate mechanism 62 is driven by the lifting mechanism 61 to move vertically so that the distance of the brush plate mechanism 62 relative to the ground can be adjusted.

[0080] The brush plate mechanism 62 in the brush plate 6232 device of the present application can be raised to a certain height relative to the ground under the drive of the lifting mechanism 61, so that after the brush plate mechanism 62 has scrubbed the ground, it can be driven by the lifting mechanism 61 to leave the ground, so as to avoid the stains of the brush plate mechanism 62 from contaminating the ground, and can also ensure that the brush plate mechanism 62 will not cause secondary pollution to the already cleaned area on the ground during the return journey of the floor cleaning robot 2 due to being separated from the ground; and the brush plate mechanism 62 can be separated from the ground by a certain gap, so as to achieve a good ventilation effect for the brush plate mechanism 62, avoid the growth of bacteria, and effectively extend the service life of the floor cleaning robot 2.

[0081] The lifting mechanism 61 includes a lifting bracket 611 and a lifting electric cylinder 612; the lifting bracket 611 is fixedly connected to the robot body 3 by screws or bolts, and the lifting bracket 611 is connected to the front side of the running direction of the robot body 3; the lifting electric cylinder 612 is placed in the lifting bracket 611, and the lifting electric cylinder 612 lifts the brush plate 6232 device according to the operating status of the AGV, so that when the scrubbing work is carried out, it can be lowered to contact with the ground for scrubbing; or after the scrubbing work is completed, the brush plate mechanism 62 can be lifted off the ground to a certain height so that the brush plate mechanism 62 after scrubbing will not cause secondary pollution to the cleaned ground.

[0082] As a preferred embodiment, the brush plate mechanism 62 includes a pipeline support 621, a squeegee 622 and a brush plate assembly 623; the pipeline support 621 is connected between the lifting mechanism 61 and the brush plate assembly 623;

[0083] It is worth noting that the pipeline support 621 has a cavity for accommodating cables and pipelines. The cavity can serve as a channel for the cables and gather all the signal lines and pipelines used by the brush plate mechanism 62.

[0084] Specifically, the brush plate assembly 623 includes a protective cover 6231 and a brush plate 6232 rotatably connected to the protective cover 6231; the brush plate 6232 is driven by a brush plate motor 31, and the brush plate motor is connected to the top of the protective cover 6231; the protective cover 6231 is provided with a water suction port 7, and the squeegee 622 has an inner cavity connected to the water suction port 7, and the inner cavity can form a negative pressure so that the water gathered by the rotation of the brush plate 6232 is sucked into the water suction port 7 through the inner cavity.

[0085] Furthermore, if Fig.14 and Fig.15As shown, the pipeline support 621 is inclined, and the side located at the high end is connected to the lifting mechanism 61, and the side located at the bottom end is connected to the brush plate assembly 623 facing the ground. The brush plate assembly 623 includes a protective cover 6231, which is an elliptical disc structure. At least two clean water injection ports 22 for injecting clean water are arranged on the top of the protective cover 6231. The clean water injection ports 22 are connected to the clean water outlet 17 of the clean water tank 821 described below through the pipeline. The clean water in the clean water tank 821 can be output to the clean water outlet 17 through the pipeline and flow out to the ground to facilitate the brush plate 6232 to wash the ground. The pipeline connected between the clean water outlet 17 and the clean water injection port 22 passes through the cavity inside the pipeline support 621. A squeegee 622 is connected to one side of the protective cover 6231. The squeegee 622 serves as a suction end for sucking sewage after washing the floor. The interior of the squeegee 622 has an inner cavity for forming a negative pressure and a suction port 7 located at the top of the squeegee 622 and connected to the inner cavity. When negative pressure is formed in the inner cavity, the sewage is sucked into the suction port 7 through the inner cavity, and is connected to the sewage inlet 9 of the sewage tank 831 of the sewage treatment device 83 described below through the suction port 7, so that the sewage sucked into the suction port 7 is finally gathered in the sewage tank 831 of the sewage treatment device 83.

[0086] The brush plate 6232 used in the present application includes a first brush plate 6232 and a second brush plate 6232; the first brush plate 6232 and the second brush plate 6232 are rotatably connected to the side of the brush plate 6232 cover facing the ground, and the first brush plate 6232 and the second brush plate 6232 are symmetrically distributed along the length direction of the brush plate 6232 with the center of the brush plate 6232 cover as the center, and are rotatably connected to the protective cover 6231 through the brush plate motor 31 respectively. In actual work, the first brush plate 6232 and the second brush plate 6232 can move relative to each other. For example, when the first brush plate 6232 rotates forward, the second brush plate 6232 rotates reversely. The purpose is to gather the moisture on the ground along the rotation direction of the first brush plate 6232 and the second brush plate 6232 between the first brush plate 6232 and the second brush plate 6232, and absorb the moisture through the inner cavity of the squeegee 622 on one side of the first brush plate 6232 and the second brush plate 6232, and then enter the sewage inlet 9 through the water suction port 7 and the pipeline and flow into the sewage tank 831.

[0087] When the floor scrubbing robot 2 is performing floor scrubbing work, the lifting bracket 611 is driven by the lifting electric cylinder 612 to drive the brush plate mechanism 62 to contact the ground. When the squeegee 622 is close to the ground, the solenoid valve 823 and the vacuum pump 832 described below are started to work synchronously. At this time, a negative pressure is formed in the inner cavity of the squeegee 622, and the clean water in the clean water treatment device 82 described below flows out from the clean water outlet 17 through the pipeline from the clean water injection port 22 to the ground, so that the first brush plate 6232 and the second brush plate 6232 can scrub the ground. The first brush plate 6232 and the second brush plate 6232 move relative to each other to gather the water. The gathered water is sucked into the squeegee 622 through the inner cavity along the rotation direction of the first brush plate 6232 and the second brush plate 6232, and flows back to the sewage inlet 9 from the water suction port 7 of the squeegee 622 through the pipeline to be collected by the sewage tank 831.

[0088] As a preferred embodiment, Figure 10-13 As shown, the robot body 3 includes a water changing device 8; the water changing device 8 includes a support frame 81 and a clean water treatment device 82 and a sewage treatment device 83 connected to the support frame 81;

[0089] The clean water treatment device 82 includes a clean water tank 821 and a water outlet pipe 822 connected to the clean water tank 821, the water outlet pipe 822 has a clean water outlet 17, and the water outlet pipe 822 is provided with a solenoid valve 823 for controlling the water output of the clean water outlet 17;

[0090] The sewage treatment device 83 includes a sewage tank 831, a vacuum tube 833 connected to the sewage tank 831, and a vacuum pump 832 arranged on the vacuum tube 833. The sewage tank 831 has a sewage inlet 9 connected to the water suction port 7 through a pipeline. By starting the vacuum pump 832, sewage flows from the water suction port 7 into the sewage inlet 9.

[0091] like Figure 1 and Fig.10As shown, the clean water treatment device 82 is located on the side of the robot body 3 facing the lifting mechanism 61, and the sewage treatment device 83 and the clean water treatment device 82 are placed side by side on the top of the robot body 3 near the charging head device 4. The clean water treatment device 82 includes a clean water tank 821, and the top of the clean water tank 821 is provided with a clean water inlet 16 and a clean water tank observation window 18. The clean water tank observation window 18 is convenient for manual maintenance and observation of water level. The clean water tank observation window 18 is connected to the clean water tank 821 by a sealant using an acrylic transparent plate, so that a sealed cavity is formed inside the clean water tank 821; the side of the clean water tank 821 is connected with a first water level sensor for monitoring the water level in the clean water tank 821. When the water level is low or full, the first water level sensor releases a corresponding signal, which is convenient for the control system to start the corresponding operation. The bottom of the clean water tank 821 is connected to a water outlet pipe 822, and a clean water outlet 17 is provided at the end of the water outlet pipe 822. A solenoid valve 823 is connected to the water outlet pipe 822, and the flow rate of clean water output from the clean water outlet 17 is controlled by the solenoid valve 823;

[0092] like Fig.11 As shown, the sewage treatment device 83 includes a sewage tank 831, and a sewage tank observation window 19 is provided on the top of the sewage tank 831. The sewage tank observation window 19 is convenient for manual maintenance and observation of water level. The sewage tank observation window 19 is connected to the clean water tank 821 by a sealant using an acrylic transparent plate, so that a sealed cavity is formed inside the sewage tank 831; a second water level sensor 20 is connected to the side of the sewage tank 831, and a vacuum tube 833 is connected to the side of the sewage tank 831 adjacent to the water level sensor. The vacuum tube 833 is connected to the interior of the sewage tank 831, and a vacuum pump 832 is connected to the vacuum tube 833; a drain valve 21 is connected to the bottom of the sewage tank 831 through a pipeline, a sewage drain port 10 is provided at the outlet of the drain valve 21, and a sewage inlet 9 is also provided at the bottom of the clean water tank, which is used to allow the water absorbed by the inner cavity of the squeegee 622 to flow through the suction port 7 to the sewage inlet 9, and then the drain valve 21 is started to allow the sewage in the sewage tank 831 to flow out through the sewage drain port 10.

[0093] It is worth noting that, according to the different cleaning areas of the factory, the volume of the clean water tank 821 and the sewage tank 831 can be reasonably configured to greatly reduce the intervention of manual replenishment. When the control system of the floor scrubber robot 2 receives a water shortage signal from the water level sensor of the clean water tank 821 or a full water signal from the second water level sensor 20 of the sewage tank 831, the floor scrubber robot 2 turns off the floor scrubbing mode, and the AGV vehicle 1 carries the floor scrubber robot 2 to the corresponding replenishment station for clean water replenishment and sewage discharge; the drain valve 21 is opened to discharge the sewage from the sewage drain port 10 of the sewage tank 831 until the second water level sensor 20 of the sewage tank 831 releases a water shortage signal, and then the drain valve 21 is stopped, and at the same time, when the first water level sensor of the clean water tank 821 releases a full water signal, the supply of clean water is stopped.

[0094] As a preferred embodiment, the floor cleaning robot 2 also includes a protective shell 23; the protective shell 23 has a housing cavity for accommodating the robot body 3; the protective shell 23 has a positioning pin 14 connected to the AGV vehicle 1; a brush plate reserved opening 25 is opened on one side of the running direction of the protective shell 23, and the protective shell 23 also has a water inlet 24 for injecting clean water and a sewage outlet 26 for discharging sewage, as well as a charging opening 28 for the charging device 5 to complete the docking with the charging head device 4.

[0095] like Figure 17-18 As shown, a water inlet 24 is provided on the top of the protective shell 23, so that clean water from the outside can enter the clean water inlet 16 through the water inlet 24 and enter the clean water tank 821; a brush plate reserved opening 25 is provided on the front side of the protective shell 23, so that the lifting bracket can extend to the outside through the brush plate reserved opening 25; a sewage outlet 26 is provided on the side adjacent to the front side of the protective shell 23, and the sewage outlet 26 is used to connect the pipeline of the sewage outlet 10 to extend to the outside through the sewage outlet opening to facilitate sewage discharge, and a sewage pipe hook 32 is connected to the internal cavity on the side of the protective shell 23 close to the sewage outlet opening, so that it is convenient to place and move the pipeline used to connect the sewage outlet 10. When not in use, the pipeline connected to the sewage outlet 10 can be wound and hung on the sewage pipe hook 32; a ventilation opening 27 connected to the internal cavity is also provided on the side of the protective shell 23 where the sewage outlet opening is provided, so as to facilitate air circulation between the inside and outside of the protective shell 23, so as to prevent bacteria from growing inside or even mold spots that affect the service life of the floor scrubber. The bottom of the protective shell 23 is also provided with a positioning pin 14 corresponding to the positioning pin hole 13 of the AGV vehicle 1, so that the positioning pin 14 of the protective shell 23 can be matched with the positioning pin hole 13, so that the robot body 3 can be installed above the AGV vehicle 1. A charging opening 28 is also provided at the bottom of the protective shell 23, so that the charging head device 4 of the robot body 3 can be extended to the outside to dock with the charging device 5 on the AGV vehicle 1 at the bottom. A switch window 29 is also provided on the other side of the protective shell 23, which is symmetrical to the ventilation opening 27, so that the interior can be observed through the switch window 29.

[0096] The present application also relates to an AGV guided floor washing system that can be charged and water-changed, such as Figure 1As shown, a rechargeable and water-changeable AGV guided floor washing device based on the above-mentioned method includes a positioning seat 11 and the rechargeable and water-changeable AGV guided floor washing device; the positioning seat 11 has a first positioning seat 111 and a second positioning seat 112 arranged at a relative preset distance, the first positioning seat 111 and the second positioning seat 112 are respectively connected to the ground by anchor bolts, and the top surfaces of the first positioning seat 111 and the second positioning seat 112 are used to support and connect the protective shell 23.

[0097] When the floor scrubber of the present application is used for scrubbing, the following steps need to be followed:

[0098] Step ① Manually confirm and turn off the circuit breaker: This step is to allow the AGV to retain power during the replenishment process of the floor cleaning robot 2.

[0099] Step ② manually fill the clean water tank 821 with clean water for floor washing and drain the dirty water from the dirty water tank 831: stop working after the first water level sensor and the second water level sensor 20 send out a full water or water shortage signal;

[0100] Step ③ Manually close the supply switch and open the circuit breaker: that is, send a supply closing signal, which means that the floor scrubber robot 2 is ready for work; the AGV can combine with the floor scrubber robot 2 to carry out floor scrubbing work according to the production requirements of the scheduling system;

[0101] Step ④ AGV 1 receives the supply shutdown signal, and AGV 1 docks with the floor scrubber robot 2: The dispatching system receives the supply shutdown signal and prepares AGV 1 to dock with the floor scrubber robot 2. This process requires the comprehensive consideration of the currently cleaned and uncleaned areas, and the intelligent route optimization of AGV 1. Only after a new trajectory instruction is generated can AGV 1 perform the cleaning task;

[0102] Step ⑤ AGV 1 docks with scrubbing robot 2: After AGV 1 arrives at the supply area, the lifting mechanism of AGV 1 lifts its top platform. After the positioning pin 14 and the positioning pin hole 13 are matched in this process, the lifting mechanism of AGV 1 reaches the highest point of its travel, that is, the scrubbing robot 2 is completely separated from the positioning seat 11, and AGV 1 drives away from the supply area and arrives at the cache area (the cache area is located near the supply area and does not interfere with the scrubbing robot 2 in the vertical direction) and stops 1, completing the docking process of AGV 1 and scrubbing robot 2;

[0103] Step ⑥ The AGV vehicle 1 is docked with the charging device 5: Continuing from the previous step, the lifting mechanism of the AGV vehicle 1 lifts the platform on the top to lift the scrubbing robot 2 and slowly descend. During the descent, the charging device 5 of the AGV vehicle 1 is combined with the charging head device 4 of the scrubbing robot 2, and the docking of the AGV vehicle 1 and the charging device 5 is completed;

[0104] Step 7: AGV 1 starts the floor scrubbing mode: After the AGV 1 is docked with the floor scrubbing robot 2, the floor scrubbing robot 2 is powered and controls the first brush plate 6232 and the second brush plate 6232 of the brush plate mechanism 62 to start forward and reverse rotation; the AGV 1 arrives at the designated location according to the arrangement of the scheduling system, and the lifting mechanism system slowly drops the brush plate mechanism 62, that is, the brush plate 6232 contacts the ground; when the control system of the floor scrubbing robot 2 starts the water circulation of the supply system, it indicates that the AGV 1 has started its floor scrubbing mode.

[0105] Step ⑧ AGV 1 starts the replenishment mode: when receiving a water shortage signal from the clean water tank 821 or a water shortage signal from the sewage tank 831, AGV 1 switches from the scrubbing mode to the replenishment mode; at this time, the order of the actions performed by AGV 1 and the scrubbing robot 2 is exactly opposite to that of step ⑦, and AGV 1 immediately goes to the cache area.

[0106] Step ⑨: AGV vehicle 1 interrupts charging device 5: The order of this step is opposite to step ⑥.

[0107] Step ⑩ AGV vehicle 1 unloads floor scrubbing robot 2: The order of this step is opposite to step ⑤.

[0108] This starts a new round of floor scrubber operation process.

[0109] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0110] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An AGV guided floor washing device that can be charged and water-changed, characterized in that: The invention comprises an AGV vehicle (1) and a floor-cleaning robot (2) connected to the AGV vehicle (1); the floor-cleaning robot (2) comprises a robot body (3); the robot body (3) is connected to a charging head device (4); the AGV vehicle (1) is connected to a charging device (5) dockingly connected to the charging head device (4) for supplying power to the floor-cleaning robot (2).

2. The AGV guided floor washing device capable of charging and changing water as claimed in claim 1, characterized in that: The charging head device (4) comprises a charging bracket (41), a charging seat (42) and a plurality of charging terminal components (43); the charging bracket (41) is connected to the robot body (3); the charging seat (42) is slidably connected to the charging bracket (41) via a first linear guide rail (45); both sides of the sliding direction of the charging seat (42) are elastically connected to the charging bracket (41) via a first elastic component (44); and the plurality of charging terminal components (43) are elastically connected to the charging seat (42) along a direction perpendicular to the sliding direction of the charging seat (42).

3. The AGV guided floor washing device capable of charging and changing water as claimed in claim 2, characterized in that: The charging end assembly (43) comprises a charging head (431), a guide sleeve (432) and a first spring (433); the guide sleeve (432) has a fixed end connected to the charging seat (42) and a guide end extending outside the charging seat (42); the charging head (431) is elastically connected to the guide sleeve (432) through the first spring (433), and the charging head (431) has an extended end extending outside the guide end, and the extended end can slide along the axial direction of the guide sleeve (432) under the elastic action of the first spring (433).

4. The AGV guided floor washing device capable of charging and changing water as claimed in claim 3, characterized in that: The charging device (5) comprises a power connection bracket (51), a power connection seat (52) and a power connection terminal assembly (53); the power connection bracket (51) is connected to the AGV vehicle (1), the power connection seat (52) is connected to the outside of the power connection bracket (51) via a second linear guide rail (54), both sides of the power connection seat (52) in the sliding direction are elastically connected to the power connection bracket (51) via a second elastic assembly (55), and the power connection terminal assembly (53) is connected to the outside of the power connection seat (52).

5. The AGV guided floor washing device capable of being charged and replaced with water as claimed in claim 4, characterized in that: The power connection terminal assembly (53) comprises a power connection housing (531) and a plurality of power connection heads (532) connected to the power connection housing (531) and arranged along the sliding direction of the power connection seat (52) for docking with the charging head (431).

6. The AGV guided floor washing device capable of charging and changing water as claimed in claim 1, characterized in that: The robot body (3) is also connected to a brushing device (6); the brushing device (6) comprises a lifting mechanism (61) connected to the robot body (3) and a brush plate mechanism (62) connected to the lifting mechanism (61); the brush plate mechanism (62) is driven by the lifting mechanism (61) to move vertically so that the distance of the brush plate mechanism (62) relative to the ground can be adjusted.

7. The AGV guided floor washing device capable of charging and changing water as claimed in claim 6, characterized in that: The brush plate mechanism (62) comprises a pipeline support (621), a squeegee (622) and a brush plate assembly (623); the pipeline support (621) is connected between the lifting mechanism (61) and the brush plate assembly (623); the brush plate assembly (623) comprises a protective cover (6231) and a brush plate (6232) rotatably connected to the protective cover (6231); the protective cover (6231) is provided with a water suction port (7), and the squeegee (622) has an inner cavity connected to the water suction port (7), and the inner cavity is capable of forming a negative pressure so that the water gathered by the rotation of the brush plate (6232) is sucked into the water suction port (7) through the inner cavity.

8. The AGV guided floor washing device capable of being charged and replaced with water as claimed in claim 7, characterized in that: The robot body (3) comprises a water changing device (8); the water changing device (8) comprises a support frame (81) and a clean water treatment device (82) and a sewage treatment device (83) connected to the support frame (81); The clean water treatment device (82) comprises a clean water tank (821) and a water outlet pipe (822) connected to the clean water tank (821), the water outlet pipe (822) having a clean water outlet (17), and the water outlet pipe (822) is provided with a solenoid valve (823) for controlling the water output of the clean water outlet (17); The sewage treatment device (83) comprises a sewage tank (831), a vacuum tube (833) connected to the sewage tank (831), and a vacuum pump (832) arranged on the vacuum tube (833); the sewage tank (831) has a sewage inlet (9) connected to the water suction port (7) via a pipeline; and sewage is caused to flow from the water suction port (7) into the sewage inlet (9) by starting the vacuum pump (832).

9. The AGV guided floor washing device capable of charging and changing water as claimed in claim 1, characterized in that: The floor-cleaning robot (2) further comprises a protective shell (23); the protective shell (23) comprises a housing cavity for accommodating the robot body (3); the protective shell (23) comprises a positioning pin (14) connected to the AGV vehicle (1); a brush plate reserved opening (25) is provided on one side of the protective shell (23) in the running direction; the protective shell (23) further comprises a water inlet (24) for injecting clean water and a sewage outlet (26) for discharging sewage, as well as a charging opening (28) for docking the charging device (5) with the charging head device (4).

10. A rechargeable and water-changing AGV guided floor washing system, based on the rechargeable and water-changing AGV guided floor washing device according to any one of claims 1 to 9, characterized in that: The invention comprises a positioning seat (11) and the rechargeable and water-changing AGV guided floor-cleaning device; the positioning seat (11) comprises a first positioning seat (111) and a second positioning seat (112) which are arranged at a preset distance relative to each other; the first positioning seat (111) and the second positioning seat (112) are respectively connected to the ground via anchor bolts; and the top surfaces of the first positioning seat (111) and the second positioning seat (112) are used for supporting and connecting a protective shell (23).

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