CN114770549B

CN114770549B - Water pushing robot and water pushing control method

Info

Publication number: CN114770549B
Application number: CN202210527194.5A
Authority: CN
Inventors: 赖钦伟; 韦宗考
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2024-09-10
Anticipated expiration: 2042-05-16
Also published as: CN114770549A

Abstract

The invention discloses a water pushing robot and a water pushing control method, wherein the water pushing robot comprises a mobile machine body and a water pushing device; the water pushing device and the movable body are assembled together in a butt joint mode, and the water pushing robot is used for driving the water pushing device to move on the working surface and pushing accumulated water on the working surface to a preset position. The water pushing device comprises a baffle and a water pushing part, wherein the water pushing part and the baffle are assembled together in a butt joint way, so that the edge of the water pushing part, which is not assembled in a butt joint way with the baffle, is contacted with a water pushing surface in a water accumulation environment; after the baffle is assembled to the mobile machine body, the mobile machine body drives the water pushing device to push water in the working surface and to a preset drainage position, and the preset position is the preset drainage position.

Description

Water pushing robot and water pushing control method

Technical Field

The invention relates to the technical field of self-moving robots, in particular to a water pushing robot and a water pushing control method.

Background

Home environments have many water-bearing environments, such as a shower, a toilet, or a wet and dry separated shower; when a person washes hands on the wash stand, water is often remained on the table top, so that the attractiveness and public sanitation are affected; the ground of the shower room or the ground of the shower room with dry and wet separation can often accumulate water, so that the use safety of personnel is affected; therefore, these ponding environments need to be cleaned, avoiding spreading to other indoor areas as people walk.

Disclosure of Invention

In order to solve the technical problems, the invention discloses a water pushing robot and a water pushing control method applied to a water accumulation environment, which replace a manual wiping mode to clean the water accumulation environment and save manpower. The specific technical scheme is as follows:

The water pushing robot comprises a mobile body and a water pushing device; the water pushing device and the movable body are assembled together in a butt joint mode, and the water pushing robot is used for driving the water pushing device to move on the working surface and pushing accumulated water on the working surface to a preset position.

Further, the water pushing device comprises a baffle and a water pushing part, and the water pushing part and the baffle are assembled together in a butt joint way, so that the edge of the water pushing part, which is not assembled with the baffle in a butt joint way, is contacted with the working surface; after the baffle is assembled to the mobile machine body, the mobile machine body drives the water pushing device to push water in the working surface and to a preset drainage position, and the preset position is the preset drainage position.

Further, the water pushing part is assembled at the bottom of the baffle plate, and the water pushing part is a bulge formed at the bottom of the baffle plate, and the top end of the bulge is used for being contacted with a water pushing surface in the ponding environment; the edge of the bottom of the baffle plate is parallel to the upper and lower edges of the bulge; the size of the baffle in the length direction is larger than or equal to the size of the water pushing part in the length direction, and the size of the baffle in the width direction is larger than or equal to the size of the water pushing part in the width direction, so that the edge of the bottom of the baffle surrounds the edge of the water pushing part, which is assembled in a butt joint way with the baffle.

Further, the water pushing part is a triangular prism or a combination of triangular prisms arranged along the bottom edge of the baffle plate, wherein the cross section of the water pushing part is triangular; when the top end of the water pushing part is arranged to be in contact with the water pushing surface, the cross section of the water pushing part is inverted triangle at the bottom of the baffle plate.

Further, the water pushing part is provided with a U-shaped opening, and the baffle is also provided with a U-shaped opening, so that the water pushing device formed by butt joint assembly of the water pushing part and the baffle is a U-shaped baffle piece, wherein after the U-shaped baffle piece is assembled to the mobile machine body, the U-shaped opening of the U-shaped water pushing device faces to the front end of the mobile machine body; or the water pushing part is provided with a linear opening, and the baffle is also provided with a linear opening, so that the water pushing device formed by butt joint and assembly of the water pushing part and the baffle is a linear baffle, and the linear baffle is arranged in parallel with the front end of the mobile machine body after being assembled to the mobile machine body.

Further, the water pushing device is further provided with water absorbing holes, the water absorbing holes are distributed on the inner side surface of the water pushing part along the edge of the water pushing part, and when the edge of the water pushing part, which is not in butt joint assembly with the baffle, is in contact with the working surface, the water absorbing holes allow accumulated water concentrated at the bottom of the water pushing device to enter; the outer side surface of the mobile body extends out of the water pumping pipe; one side of the baffle, which is assembled in a butt joint way with the movable body, is provided with a water suction port which is arranged to allow a water suction pipe to pass through and be communicated with the water suction hole, wherein the water suction pipe is connected with a water suction pump arranged in the movable body and used for generating suction force at the water suction hole and sucking accumulated water pushed into the bottom of the water pushing part into a water tank arranged in the movable body.

Further, a limiting piece is arranged on the outer side face of the mobile body, an assembly groove is formed in one side, which is in butt joint and assembly with the mobile body, of the baffle plate, and the limiting piece is used for being inserted into the assembly groove so as to butt joint and assembly the mobile body and the water pushing device together; the driving wheels are assembled on the left side and the right side of the chassis of the mobile body, the bottoms of the driving wheels and the water pushing part are contacted with the working surface, and the working surface is a walking plane of the water pushing robot.

Further, a collision detection column is arranged on one side of the baffle, which is in butt joint with the mobile body, and is connected with the water pushing part to receive acting force applied to the water pushing part from the outside, and after the limiting piece is inserted into the assembly groove, the collision detection column is inserted into the mobile body to be in butt joint with a pressure sensor arranged in the mobile body; the acting force externally applied to the water pushing device is transmitted to the pressure sensor arranged in the mobile body by the collision detection cylinder, so that the effect of collision detection of the water pushing robot is achieved.

Further, the movable body is further provided with a spring, one side of the baffle plate, which is in butt joint with the movable body, is provided with a mounting hole, after the limiting piece is inserted into the mounting groove, the mounting hole is used for receiving the spring to penetrate into the water pushing device, so that two ends of the spring respectively support against the shell of the movable body and the support shell of the water pushing device, wherein after the acting force applied to the water pushing device from the outside is transferred to the spring, the spring provides restoring force for the water pushing device, and the water pushing device moves reciprocally along the central axis of the spring; wherein the bracket shell of the water pushing device is arranged as a shell for assembling the water pushing device and the water pushing part, and forms a carrier for receiving externally applied acting force by the water pushing part.

Further, one side of the baffle, which is assembled in a butt joint manner with the mobile body, is provided with a collision detection column, the collision detection column extends out of the mounting hole, the collision detection column is fixedly assembled with the support shell of the water pushing device, after the limiting piece is inserted into the assembly groove, the collision detection column penetrates through the spring to be inserted into the mobile body, and the collision detection column is inserted into the mobile body along the central axis of the spring.

Further, the limiting piece is of a hollow assembly structure, and a hollow part exists; the baffle internal fixation is provided with the assembly cylinder, the locating part inserts behind the mounting groove, the assembly cylinder pass the cavity position of locating part for after being collided by outside, under the effect of the restoring force that the spring produced, drive the assembly cylinder is in reciprocating motion in the locating part.

Further, when the outer side surface of the mobile body is limited to the front side surface of the mobile body, the front side surface is the side surface of the mobile body pointed by the advancing direction of the water pushing robot, and then the front end of the chassis of the mobile body is one end of the chassis of the mobile body pointed by the advancing direction of the water pushing robot; the side of the baffle plate, which is in butt joint with the movable body, is the rear side surface of the water pushing device, so that water scraped by the water pushing device is concentrated on the front side surface of the water pushing device; the rear end of the water pushing part or the front end of the chassis of the mobile body is provided with a cliff detection sensor which is used for preventing the water pushing robot from falling off at the edge position of the working surface.

The implementation main body of the water pushing control method is the water pushing robot; the water pushing control method comprises the following steps: the water pushing robot walks along a preset path on the working surface, and the bottom of the water pushing device of the water pushing robot is kept in contact with the working surface so as to push water on the working surface; before the water pushing robot walks to the edge position of the working surface, the water pushing robot adjusts the walking direction so as to prevent accumulated water of the working surface from being pushed to the outside of the working surface, and adjusts the walking direction to point to a preset drainage area; then continuing to push water on the working surface according to the latest adjusted walking direction; when the water pushing robot walks to the edge position of a preset drainage area, determining that the water pushing device has pushed accumulated water on the working surface to the preset position so that the accumulated water flows into the drainage area; and then the water pushing robot adjusts the walking direction so that the water pushing robot walks in the direction away from the drainage area and continues pushing water in the area which is not traversed on the working surface.

Further, when the water pushing robot walks on the working surface to a position which is a preset safe distance away from the edge position of the working surface, the water pushing robot starts to adjust the current walking direction according to a preset clockwise direction and finishes turning so that the adjusted walking direction points to the edge position or the center position of a preset drainage area; the preset safety distance is set as follows: the water pushing device is allowed to push accumulated water concentrated on the front side surface of the water pushing device to the preset position rather than pushing out the outer part of the working surface in the process of turning, wherein a preset water draining area is arranged inside the working surface and is surrounded by the edge of the working surface.

Further, the water pushing device is provided with a sensor for detecting the water accumulation amount of the front side surface of the water pushing device, when the sensor detects that the front side surface of the water pushing device has no water accumulation or the water accumulation amount is lower than a certain threshold value, the water pushing robot determines that the water pushing device has pushed the water accumulation to the preset position, and then the water pushing robot turns to continue pushing water on the working surface in the direction opposite to the current walking direction; and/or the front end of the chassis of the mobile body or the rear end of the water pushing device is provided with a cliff detection sensor; when the water pushing robot detects that the distance change value sensed by the cliff detection sensor is larger than a preset distance threshold value, the water pushing robot determines that the water pushing device has pushed accumulated water to the preset position, and then the water pushing robot turns to continue pushing water on the working surface in the direction opposite to the current walking direction; wherein the preset position is an edge position of a preset drainage area or one drainage position inside the preset drainage area.

Further, the water pushing device is provided with a sensor for detecting the water accumulation amount of the front side surface of the water pushing device, and when the sensor detects that the water accumulation exists in front of the water pushing device or the water accumulation amount is higher than a certain threshold value, the water pushing robot walks to a position where the water accumulation exists or a position where the water accumulation amount is higher than a certain threshold value, and drives the water pushing device to push water at the position.

Further, the walking mode of the water pushing robot on the working surface along the preset path comprises the following steps: the water pushing robot walks along the arched path on the working surface, and simultaneously drives the bottom of the water pushing device of the water pushing robot to keep contact with the working surface along the arched path so as to push water on the working surface, and absorbs accumulated water pushed and extruded by the front side surface of the water pushing device at a certain time interval or in real time, so that the water pushing robot is not easy to leak water in the process of turning according to a bending line of the arched path; wherein the certain time interval is related to the accumulated water quantity existing on the front side surface of the water pushing device; the preset path is an arcuate path, and the arcuate path comprises a plurality of mutually parallel motion track line segments; two adjacent motion track line segments which are parallel to each other are connected through a bending line at one end point; the water pushing device is further provided with water absorbing holes, the water absorbing holes are distributed on the inner side surface of the water pushing device along the edge of the bottom of the water pushing device, and when the edge of the bottom of the water pushing device is contacted with the working surface, the water absorbing holes allow accumulated water concentrated on the bottom of the water pushing device to be absorbed; the water sucking pipe is arranged to penetrate through the water pushing device and is communicated with the water sucking hole, wherein the water sucking pipe is connected with a water sucking pump arranged in the mobile body and used for generating suction force at the water sucking hole, and water pushed into the bottom of the water pushing part by the water pushing device is sucked into a water tank arranged in the mobile body.

The invention has the technical effects that: the water pushing robot disclosed by the invention is suitable for pushing water and absorbing water in various water accumulation environments, and comprises the steps of pushing the water accumulation on the table surface of a hand washing table to a hand washing basin or scraping the water accumulation in a shower bath to a floor drain, so that the water accumulation is prevented from overflowing in a set water drainage area, part or all of the water accumulation can be absorbed in the water pushing process, the labor of people is reduced, the safety, time and labor are saved, and the clean and tidy environment in a house is maintained.

Drawings

Fig. 1 is a schematic structural diagram of a water pushing device capable of being assembled on a mobile body according to an embodiment of the present invention.

Fig. 2 is a schematic top view of a water pushing robot according to an embodiment of the present invention.

Fig. 3 is a schematic bottom view of a water pushing robot according to an embodiment of the present invention.

Reference numerals:

10. Baffle plate, 101, water pumping port, 102 and assembly groove, 103, collision detection columns, 104 and mounting holes;

11. a water pushing part 111 and a water absorbing hole;

12. The device comprises a movable body, 121, a water pumping pipe, 122, a limiting piece, 123, a spring, 124 and a driving wheel.

Detailed Description

The following describes the technical solution in the embodiment of the present invention in detail with reference to the drawings in the embodiment of the present invention. Other configurations and operations of the reminder according to embodiments of the present invention will be apparent to those of ordinary skill in the art and will not be described in detail herein. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "mounted," "connected," "secured," and the like are intended to be interpreted broadly, as they may be connected detachably or as a unit, as they may be connected directly or indirectly via an intermediary, as they may be in communication with one another or as they may be in an interactive relationship with one another, unless otherwise specifically indicated. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, a description of the terms "one embodiment," "preferred," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and a schematic representation of the terms described above in the present specification does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection modes in the description of the specification have obvious effects and practical effectiveness.

After a person uses the wash basin, part of water is usually reserved on the table top of the wash basin or on the ground (water sprayed by a water tap can be splashed outwards), and the water reserved on the table top of the wash basin or on the ground can be cleaned by a cleaning person to take a towel or a paper towel, but the manual cleaning mode is inconvenient to operate, and consumes manpower, especially in public places where the person goes and goes, the flow of people is large, water accumulation is easily generated on the wash basin and the ground, and the cleaning person cannot clean the water accumulation on the wash basin and the ground in time, so that the attractiveness and public sanitation are affected. Based on this, this embodiment is to be directed against the inconvenience and waste time and energy that the manual work will clean the water in the ponding environment such as on the mesa of wash platform, shower room ground, and the like and cause, and the cleanup crew can't in time clear up ponding on the wash platform or ground and influence pleasing to the eye and public health's problem provides the water pushing device that can be used for mobile robot in the aforesaid embodiment, not only can push away water to the basin of wash platform or floor drain region, still can absorb water the operation through the water hole of absorbing water of pushing away the water portion, and is convenient and labour saving and time saving.

Aiming at the technical defects, the invention discloses a water pushing robot for a ponding environment, which comprises a mobile machine body and a water pushing device; the water pushing device and the mobile body are assembled together in a butt joint way, and can be fixedly assembled together or movably mounted together; the water pushing robot is used for driving the water pushing device to move on a working surface and pushing accumulated water on the working surface to a preset position, wherein the working surface is a surface of a water accumulation environment, comprises a table surface of a hand washing table or a ground surface of a shower room and the like, which is easy to accumulate water environment, and can comprise a water draining area, the water draining area can be a floor drain or a basin surface of the hand washing table, in order to avoid the danger of falling of the water pushing robot, the preset position is an edge position set as the water draining area or is arranged in the water draining area, but the preset position cannot be set as the edge position of the working surface, for example, is not set as the edge position of the table surface of the hand washing table, so that the water pushing robot at the edge position of the table surface of the hand washing table is prevented from pushing the accumulated water on the ground or other room areas; the water pushing device is driven by the mobile machine body, accumulated water pushed by the working surface is concentrated on the front side surface of the water pushing device until the accumulated water is pushed to a preset position to finish water drainage; preferably, the working surface is a walkable plane of the water pushing robot and is also a water pushing plane, and the front side of the water pushing device is a side surface of the water pushing device pointed by the walking direction of the water pushing robot, and can be in direct contact with accumulated water on the working surface and can receive the acting force applied by the outside.

In some embodiments, a user observes the water accumulation condition and the water discharge area (floor drain of a shower or the interior of a basin of a wash basin) in front of a working area of the water pushing robot through a human-computer interaction interface (from an image acquired by a camera arranged on a mobile body of the water pushing robot), then designates the water pushing robot to push water to the area with more water accumulation according to the water accumulation condition, for example, the water pushing robot can move from one end of the wash basin to the other end of the wash basin, and the pushed water accumulation is discharged at a necessary basin end position to complete water discharge operation, and then rotates in the opposite direction; of course, the water can be automatically discharged to the designated water discharge area but not to the area outside the shower room by the designated water discharge area (floor drain) in the shower room and the remote signal is transmitted to the controller of the water pushing robot, so that the labor intensity of cleaning workers on site is greatly reduced.

As an embodiment, the water pushing device includes a baffle and a water pushing part, the water pushing part and the baffle are assembled together in a butt joint way, as can be seen in fig. 1, the top of the water pushing part 11 is attached to the bottom of the baffle 10, the bottom end (or the edge of the bottom) of the water pushing part 11 is designed to be contacted with the floor or the water pushing working table surface of an indoor room (such as a shower), so that the edge of the water pushing part 11, which is not assembled in a butt joint way with the baffle 10, is not contacted with the working surface. Referring to fig. 2, after the baffle 10 is assembled to the mobile body 12, the mobile body 12 drives the water pushing device to push water on the surface of the water accumulation environment to a preset drainage position, wherein the preset drainage position is the preset drainage position. Therefore, the water pushing robot disclosed by the embodiment of the invention is suitable for pushing water at the preset drainage position under various water accumulation environments, and comprises the steps of pushing the water accumulation on the table surface of the hand washing table to the basin end of the hand washing basin or pushing the water accumulation in the shower room to the edge position of the floor drain, and besides timely draining the water accumulation, the water absorbing assembly can be used for absorbing part or all of the water accumulation in the water pushing process, so that the labor of people is reduced, the time and labor are saved, and the neatness of the household environment is maintained.

In some embodiments, when the mobile body 12 walks on the surface of the wash basin, the water is collected by the water pushing device formed by the U-shaped baffle 10 and the water pushing part 11 in fig. 1 and 2, then the mobile body can scrape the water to a place where the water can be poured by a preset walking method, generally after a preset boundary is detected, for example, after the edge of the surface of the wash basin is detected, the mobile body starts to walk to the basin edge of the wash basin along an arc track, the water pushing device pushes the pushed water to the basin, at this time, the mobile body 12 has moved to a boundary, namely, the edge position of the basin, and at this time, the water pushing part 11 and the baffle 10 have been extended into the concave coverage area of the basin, so that the water pushing device can be confirmed to push the water to the basin; in some embodiments, the mobile body or the water pushing device can detect that water is pushed out through a visual sensor or other sensors, namely when the front side surface of the water pushing part 11 is detected to have no accumulated water or the accumulated water amount is lower than a certain threshold value, the mobile body determines that the water pushing device has scraped water to a basin; then, the moving body 12 turns around, and the moving body 12 drives the water pushing device to push water next time on the working surface in the opposite direction (opposite to the previous water pushing direction and far away from the basin). Therefore, the accumulated water remained on the table top of the hand washing table or on the ground is cleaned up, the accumulated water on the table top of the hand washing table or on the ground is prevented from being cleaned manually, the hand washing table is convenient, time and labor are saved, meanwhile, the accumulated water on the table top of the hand washing table or on the ground can be cleaned up in time, the hand washing table is attractive, and good public sanitation can be guaranteed.

It should be noted that the mobile body or the water pushing Robot may be an intelligent mobile Robot (Robot) which is a mobile device that automatically performs work. The mobile body can be used for receiving human command, running a pre-programmed program and conducting actions according to the principle formulated by artificial intelligence technology, and can be a comprehensive system integrating environment sensing, dynamic decision and planning, behavior control and execution and the like after being assembled with the water pushing device. The driving module is one of the necessary technical characteristics of the mobile body, and comprises left and right driving wheels, and each driving wheel is provided with a driving motor.

As an embodiment, the water pushing part is assembled at the bottom of the baffle, and the water pushing part is a protrusion formed at the bottom of the baffle, the protrusion is provided with a top end (the intersection position of two side surfaces) and is used for contacting with a water pushing surface in the water accumulation environment, and the water pushing effect is thorough due to the fact that the contact surface between the protrusion and the water pushing surface is small, and the water pushing effect is obvious due to the fact that the pressure exerted by the water pushing part is large, and particularly the water accumulated on the surface of the washing platform is pushed to be more concentrated. Specifically, referring to fig. 1, the edge of the bottom of the baffle 10 is parallel to the upper and lower edges of the protrusion (corresponding to the water pushing portion 11 in fig. 1), the dimension of the baffle 10 in the length direction is greater than or equal to the dimension of the water pushing portion 11 in the length direction, and the dimension of the baffle 10 in the width direction is greater than or equal to the dimension of the water pushing portion 11 in the width direction, so that the edge of the bottom of the baffle 10 surrounds the edge of the water pushing portion 11, which is assembled in butt joint with the baffle 10; generally, the length of the butt joint assembly part of the two parts is relatively close to the length of the butt joint assembly part, the width of the butt joint assembly part is slightly smaller than the length of the butt joint assembly part, the width of the butt joint assembly part is relatively close to the width of the butt joint assembly part, the width of the butt joint assembly part is slightly smaller than the width of the butt joint assembly part, and the bending angles of the projection shapes of the parts on the horizontal plane are relatively close to each other, so that the butt joint structure is favorable for removing concentrated accumulated water and pushing away the accumulated water forwards.

As an example, referring to fig. 1 and 3, the water pushing portion 11 is a triangular prism or a combination of triangular prisms disposed along the bottom edge of the baffle 10, it is understood that the water pushing portion 11 is a triangular prism-like structure and protrudes downward from the surface of the baffle 10, so that the lower edge of the water pushing portion 11 contacts with a pushing horizontal plane, and the cross section of the water pushing portion 11 is triangular, preferably, the baffle 10 is a triangular prism or a combination of triangular prisms, and there is one side surface attached to the side surface of the water pushing portion 11. In this embodiment, when the top end of the water pushing portion 11 is set to contact with a pushing horizontal plane, the cross section of the water pushing portion 11 is in an inverted triangle shape at the bottom of the baffle 10, and although the contact area between the top end of the water pushing portion 11 (the raised top end portion, which is formed into a linear shape and corresponds to the top point of the cross section) and the pushing horizontal plane (which can be understood as the pushing horizontal plane) is small, a larger water pushing space can be reserved, and more water can be pushed away on the same working plane than in the prior art.

Preferably, the water pushing portion 11 and the baffle 10 may be assembled in a butt joint manner, that is, the water pushing portion 11 and the baffle 10 are integrally formed, and the water pushing device forms an integral part which is not detachable, wherein the water pushing portion may be made of a rubber sheet, and the water pushing portion is matched with the integrally formed baffle 10 to enhance water tightness and reduce water leakage in the water pushing process.

As an embodiment, referring to fig. 1, the water pushing portion 11 is configured as a U-shaped opening, so as to form a U-shaped water pushing portion; correspondingly, the baffle 10 is also provided with a U-shaped opening to form a U-shaped baffle; the water pushing device formed by the butt-joint assembly of the water pushing part 11 and the baffle plate 10 is a U-shaped water pushing device, wherein after the U-shaped water pushing device is assembled on the mobile body, the U-shaped opening of the U-shaped water pushing device faces the front end of the mobile body. As shown in fig. 1, a water pushing part 11 with a U-shaped opening may be divided into three sub-water pushing parts, which sequentially include, from left to right, a sub-water pushing part of a left bending section, a sub-water pushing part of a middle straight section, and a sub-water pushing part of a right bending section, the three sub-water pushing parts are combined to form a U-shaped opening water pushing part, correspondingly, a baffle 10 with a U-shaped opening may be divided into three sub-baffles, which sequentially include, from left to right, a sub-baffle of a left bending section, a sub-baffle of a middle straight section, and a sub-baffle of a right bending section, the three sub-baffles are combined to form a U-shaped opening baffle 10, in the water pushing device, the sub-water pushing part of the lower left bending section and the sub-baffle of the upper left bending section are assembled together, the sub-water pushing part of the lower middle straight section and the sub-baffle of the upper middle straight section are assembled together, and the sub-baffle of the lower right bending section and the sub-baffle of the upper right bending section are assembled together. Thereby collecting the accumulated water in the concave water pushing area formed by the water pushing part 11 and preventing the water leakage amount from increasing.

As an embodiment, the water pushing portion may be further configured to be a linear opening, and the baffle is also configured to be a linear opening, so that the water pushing device formed by butt-assembling the water pushing portion and the baffle is a linear baffle, that is, a linear water pushing device, and then the water pushing portion of the lower linear section and the baffle of the upper linear section are assembled together, and after the linear baffle is assembled to the mobile body, the linear water pushing device is parallel to the front end of the mobile body, and can push a larger amount of water to the preset position relative to the water pushing portion of the U-shaped opening.

As an embodiment, as can be seen from fig. 2 and 3, the water pushing device is further provided with water absorbing holes 111, and the water absorbing holes 111 are distributed on the inner side surface of the water pushing part 11 along the edge of the water pushing part 11; specifically, there are a plurality of water absorbing holes uniformly distributed along the edge (corresponding to the lower edge of the water pushing part 11 in fig. 1) of the water pushing part 11, which is contacted with the working surface, on the inner side surface of the water pushing part 11, which may correspond to the front side surface composed of corresponding scraping blades (the water pushing part of this embodiment may be made of a plurality of scraping blades), wherein when the edge (corresponding to the lower edge of the water pushing part 11 in fig. 1) of the water pushing part 11, which is not in butt-joint with the baffle plate 10, is contacted with the working surface, the water absorbing holes 11 allow the water scraped into the bottom of the water pushing device in the ponding environment to enter, and can enter the inside of the water pushing device under the action of the suction force in the corresponding water absorbing holes, as shown in fig. 3, the water absorbing holes 111 are not close to the working surface, but are obliquely arranged on the inner side surface of the water pushing part 11 corresponding to the side surface of the triangular prism structure at the bottom of the baffle plate 10, and the external water absorbing pump can generate a certain suction force at the water absorbing holes. Preferably, the shape of the water suction hole 11 may be circular or flat. The outer side surface of the mobile body 12 extends out of the water pumping pipe 121; a water suction port 101 is arranged on one side of the baffle 10, which is in butt joint with the movable body 12, and is configured to allow a water suction pipe 121 disclosed in fig. 2 and 3 to pass through and be communicated with the water suction hole 11, and may be indirectly communicated through an associated water suction assembly, the water suction pipe 121 is connected with a water suction pump arranged inside the movable body 12, and is used for generating suction force at the water suction hole 111, sucking water scraped into the bottom of the water pushing part 11 by the water pushing device into a water tank arranged inside the movable body 12, and sucking accumulated water sucked into the water suction hole 11 into one water suction pipe 121 or a plurality of water suction pipes; in order to save the die-sinking cost of the water pumping assembly, the embodiment only designs one water pumping pipe to pump water absorbed by a plurality of water absorbing holes, and then the absorbed water is collected into a water collecting tank body of the mobile body 12 by the water pumping pipe 121, so as to store scraped sewage, and particularly in the process of executing an arc-shaped path by the water pushing robot, the problem of water leakage caused by in-situ rotation is avoided.

As an embodiment, as can be seen from fig. 2 and 3, the outer side surface of the mobile body 12 is provided with a limiting member 122, one side of the baffle 10, which is in butt joint with the mobile body 12, is provided with an assembling groove 102, the limiting member 122 is used for being inserted into the assembling groove 102 to butt joint the mobile body 12 with the water pushing device, wherein the assembling groove 102 accommodates the limiting member 122 and clamps the limiting member 122 into the water pushing device, and the mobile body 12 and the water pushing device can be movably installed together through related assembling supporting members; in this embodiment, the driving wheels 124 are mounted on the left and right sides of the chassis of the mobile body 12, and both the two driving wheels are in contact with the bottom of the water pushing part 11 of the water pushing device and the working surface of the water pushing robot, so that in the water pushing process of the water pushing robot, three different contact positions exist between the water pushing robot and the working surface, the driving wheels 124 are used for driving the water pushing device to push water in the working surface, the working surface can be regarded as a walkable plane belonging to the water pushing robot, and accumulated water collected at the bottom of the water pushing device can be collected, so that the accumulated water amount on the ground or the table surface of the wash basin is reduced, and the working surface is prevented from becoming wet and overflowing.

As an example, as can be seen from fig. 2 and 3, the side of the baffle 10, which is butt-assembled with the mobile body 12, is provided with a collision detecting column 103, and the collision detecting column 103 is connected with the water pushing portion 11 to receive the force applied to the water pushing portion 11 from the outside, which can be understood as that the collision detecting column 103 and the water pushing portion 11 are fixedly disposed on the same support shell, so that the force applied to the water pushing portion 11 from the outside is transferred to the collision detecting column 103, and then transferred to the mobile body 12 by the collision detecting column 103. In this embodiment, after the limiting member 122 is inserted into the assembly slot 102, the collision detection column 103 is inserted into the interior of the mobile body 12 so as to abut against the pressure sensor disposed in the interior of the mobile body 12, so that the acting force applied to the water pushing device from the outside is transmitted to the pressure sensor disposed in the interior of the mobile body by the collision detection column 103, so as to achieve the effect of collision detection of the water pushing robot, and then in the process of pushing water on the working surface, the water pushing robot can avoid obstacles in time according to the actual collision situation.

As an embodiment, as can be seen from fig. 2 and 3, the mobile body 12 is further provided with a spring 123, a side of the baffle 10, which is in butt joint with the mobile body 12, is provided with a mounting hole 104, after the limiting piece 122 is inserted into the mounting groove 102, the mounting hole 104 is used for receiving the spring 123 to penetrate into the water pushing device, so that two ends of the spring 123 respectively abut against the shell of the mobile body 12 and the bracket shell of the water pushing device, wherein the shape of the mounting hole 104 is adapted to the cross-sectional shape of the spring 123, so that the spring 123 can pass through the mounting hole 104, and an elastic acting space of the spring 123 between the mobile body 12 and the water pushing device is formed; after the external force applied to the water pushing device is transferred to the spring 123, the spring 123 provides a restoring force for the water pushing device, so that the water pushing device moves reciprocally along the central axis of the spring 123, wherein the extending direction of the central axis of the spring 123 is parallel to the central axis of the movable body 12, and the central axis of the spring 123 penetrates through the front end and the rear end of the movable body 12; the housing of the water pushing device is provided as a housing for assembling the water pushing device and the water pushing part 11, and forms a carrier for the water pushing part 11 to receive externally applied force.

On the basis of the embodiment, a collision detection column 103 is arranged on one side of the baffle 11, which is in butt joint with the mobile body 12, the collision detection column 103 extends out of the mounting hole 104, if necessary, the collision detection column 103 can extend out of the mounting hole 104 along the central axis of the mounting hole 104, the collision detection column 103 and the bracket shell of the water pushing device are fixedly assembled together, after the limiting piece 122 is inserted into the assembling groove 102, the collision detection column 103 passes through the spring 123 to be inserted into the mobile body 12, wherein the collision detection column 103 is inserted into the mobile body 12 along the central axis of the spring 123, but the collision detection column 103 is not contacted with the spring 123, and the collision detection column 103 is used for abutting against an associated sensor in the mobile body 12 to perform collision detection; the spring 123 only provides a restoring force for the water pushing device after the water pushing device of the water pushing robot collides with the outside, so that a buffer space exists in the water pushing process of the water pushing device, and abrasion of the water pushing device of the water pushing robot is reduced.

Specifically, as can be seen in fig. 2 and 3, the limiting member 122 is a hollow assembly structure, and has a hollow portion; the limiting piece 122 is used for providing a rebound movement space for the collision of the water pushing device, that is, the limiting piece 122 provided on the moving body 12 reserves a space for the collision movement of the water pushing device under the action of external water accumulation acting force or the thrust exerted by other objects. The baffle 10 is fixedly provided with an assembly column (not shown in the figure), and after the limiting member 122 is inserted into the assembly groove 102, the assembly column passes through a hollow portion of the limiting member 122, so that the water pushing device is driven to reciprocate in the limiting member 122 under the action of a restoring force generated by the spring 123 after being collided with the outside, and even if the water pushing device is in a water pushing operation, the water pushing device is not kept in a fixed assembly state relative to the movable body 12, and can reciprocate in a specific area of the working surface.

In some embodiments, when the mobile body 12 walks on the surface of the hand washing platform, the water is collected by the water pushing device assembled by the U-shaped baffle 10 and the water pushing part 11 in fig. 1 and 2, then the mobile body can scrape the water to a place where water can be poured by a preset walking method, in the process, the water pushing device may receive the force exerted by external water accumulation, and generally, the water pushing device pushes the pushed water to the water basin while detecting the edge of the surface of the hand washing platform, at this time, the water pushing device is not subjected to the external force in the walking direction of the robot and is sensed by the water pushing robot through the collision detection column 103, so that it can be determined that the mobile body 12 has moved to the edge position of the water basin, and at this time, the water pushing part 11 and the baffle 10 have been extended out of the surface of the hand washing platform (into the concave coverage area of the water basin) can be confirmed that the water pushing device has pushed out.

In the foregoing embodiment, referring to fig. 2 and 3, a water pumping pipe 121 is disposed in the middle of the outer side surface of the mobile body 12, at least two limiting members 122 and at least two springs 123 (only two left and right springs in fig. 2 and 3) are disposed on the outer side surface of the mobile body 12, and correspondingly, at least two assembling grooves 102, at least two collision detecting columns 103 (only two left and right collision detecting columns in fig. 2 and 3) and a water pumping port 101 are disposed on the side of the baffle 10, which is assembled with the mobile body 12 in a butt joint manner; the water pumping port 101 is arranged at the central position of one side of the baffle 10, which is in butt joint with the mobile body 12, the at least two assembling grooves 102 are symmetrically arranged at two sides of the water pumping port 101, the at least two collision detection columns 103 are symmetrically arranged at two sides of the water pumping port 101, the assembling grooves 102 and the collision detection columns 103 are distributed at intervals, as shown in fig. 2, each collision detection column 103 is arranged between the two assembling grooves 102; accordingly, the at least two limiting members 122 are symmetrically disposed on two sides of the pumping pipe 121, the at least two springs 123 are symmetrically disposed on two sides of the pumping pipe 121, the springs 123 and the limiting members 122 are spaced apart, as shown in fig. 2, and each spring 123 is disposed between two limiting members 122.

It should be noted that, as can be seen from fig. 2 and 3, when the outer side surface of the mobile body 12 is limited to the front side surface of the mobile body 12, the front side surface is the side surface of the mobile body 12 to which the advancing direction of the water pushing robot points, and the front end of the chassis of the mobile body 12 is one end of the chassis of the mobile body 12 to which the advancing direction of the water pushing robot points; the side of the baffle 10, which is assembled with the movable body 12 in a butt joint manner, is the rear side of the water pushing device, so that water scraped by the water pushing device is concentrated on the front side of the water pushing device, and accumulated water is pushed away in front of the water pushing robot.

In some embodiments, a cliff detection sensor is mounted at the rear end of the water pushing part 11 or at the front end of the chassis of the mobile body 12, for preventing the water pushing robot from falling down at the edge position of the working surface. The cliff detection sensor may be an infrared sensor with a probe arranged to face the work surface, so the cliff detection sensor prevents the water-pushing robot from falling danger by measuring a distance of an edge position of the work surface (such as a table top boundary position of a wash basin or a step edge position) from the ground or a basin bottom of the wash basin.

Based on the foregoing embodiment, the present invention further discloses a water pushing control method, where the implementation main body of the water pushing control method is the water pushing robot disclosed in the foregoing embodiment; the water pushing robot is located on the working surface, that is, the water pushing robot walks on the working surface to perform water pushing operation, and pushes accumulated water on the working surface to a preset position disclosed in the foregoing embodiment. The water pushing control method comprises the following steps: the water pushing robot walks along a preset path on the working surface, and the bottom of the water pushing device of the water pushing robot is kept in contact with the working surface to push water on the working surface, wherein the preset path comprises an arc-shaped path to avoid edge positions in time.

Before the water pushing robot walks to the edge position of the working surface, the water pushing robot adjusts the walking direction so as to prevent accumulated water of the working surface from being pushed to the outside of the working surface (the outer end of the working surface can be understood), avoid overflowing to other working areas, and adjust the walking direction to point to a preset drainage area; and then continuing to push water on the working surface according to the latest adjusted walking direction. If the working surface is the table surface of the wash platform, the water pushing robot needs to avoid the boundary position of the table surface so as to avoid falling from the table surface to the ground, and also needs to avoid setting the water draining area outside the boundary of the table surface of the wash platform so as to avoid pushing accumulated water on the table surface to the ground or overflowing to other room areas.

Specifically, when the water pushing robot walks to a position with a preset safety distance from the edge position of the working surface on the working surface, the water pushing robot starts to adjust the current walking direction according to the preset clockwise direction (according to the distribution condition of the obstacle) to complete turning so that the adjusted walking direction points to the edge position or the center position of a preset drainage area, wherein the turning angle is greater than 90 degrees or equal to 180 degrees, and the preset safety distance constrains a large enough area on the working surface, so that when the water pushing robot drives the water pushing device to turn, the pushed accumulated water is not leaked outside the working surface. In this embodiment, the preset safety distance is set as follows: the water pushing device is allowed to push accumulated water concentrated on the front side surface of the water pushing device towards the preset position (the water discharging position of the water pushing device can be understood) rather than pushing out the outer part of the working surface during the turning process. The preset safety distance may be greater than a longitudinal length of the water pushing robot; the preset drainage area is arranged inside the working surface and surrounded by the edge position of the working surface, so that the edge position of the drainage area is surrounded by the edge position of the working surface.

When the water pushing robot walks to the edge position of the preset drainage area, the water pushing device is determined to push the accumulated water of the working surface to the preset position, so that the accumulated water flows into the drainage area, and the pushed accumulated water is collected at a specific drainage position to be drained. Specifically, when the water pushing robot walks to the edge position of the preset water draining area, the current walking direction of the water pushing robot points to the inside of the preset water draining area, may point to the center position of the preset water draining area, and in some embodiments, points to the tangent line of the edge of the preset water draining area, so that in summary, the accumulated water on the front side surface of the water pushing device can flow into the water draining area. And then the water pushing robot adjusts the walking direction, so that the water pushing robot walks in a direction away from the drainage area (or away from the preset position) and continues pushing water in an area which is not traversed on the working surface, at this time, the adjusted walking direction is possibly opposite to the walking direction when the water pushing robot walks to the edge position of the preset drainage area, and the water pushing robot pushes water along the preset path on the premise of avoiding entering the drainage area until accumulated water on the working surface is cleaned.

As an embodiment, the water pushing device is provided with a sensor for detecting the water accumulation amount of the front side surface of the water pushing device, when the sensor detects that the front side surface of the water pushing device has no water accumulation or the water accumulation amount is lower than a certain threshold value, the water pushing robot determines that the water pushing device has pushed the water accumulation to the preset position so that the pushed water accumulation flows into a water draining area, then the water pushing robot can walk reversely to continue pushing water on the working surface in the direction opposite to the current walking direction and possibly far away from the water draining area, but when the water pushing robot walks on the working surface to a position which is a preset safe distance from the edge position of the working surface, the water pushing robot starts to adjust the current walking direction according to a preset clockwise direction (according to the obstacle distribution condition), the arc-shaped path is adopted to push the water accumulation to the edge position or the center position of the preset water draining area, so that the water accumulation is pushed to the water draining area instead of being pushed to the outside the working surface, and when the sensor detects that the front side surface of the water accumulation amount of the water pushing device is lower than the certain threshold value, the water pushing robot can only push the water to the water draining area.

Similarly, a cliff detection sensor is arranged at the front end of the chassis of the mobile body or at the rear end of the water pushing device; when the water pushing robot detects that the distance change value sensed by the cliff detection sensor is larger than a preset distance threshold value, determining to walk to the edge position of the drainage area instead of the edge position of the working surface, simultaneously determining that the water pushing device has pushed accumulated water to the preset position by the water pushing robot, and turning the water pushing robot to continue pushing water on the working surface in the direction opposite to the current walking direction. In some embodiments, the water pushing robot walks on the table surface of the hand washing table, the water is collected by the water pushing device assembled by the U-shaped baffle plate 10 and the water pushing part 11 in fig. 1 and 2, then the mobile body can push the water to a preset water pouring place but not allow the water to overflow to other working surfaces or room floors, when the water pushing robot walks to the basin edge of the hand washing table, the cliff detection sensor recognizes whether the water pushing robot reaches the cliff area or not (namely, the danger of falling occurs when walking further), the water pushing device pushes the pushed water to the basin, the mobile body 12 moves to the edge position of the basin, the water pushing part 11 and the baffle plate 10 extend above the concave coverage area of the basin, and the water pushing device can be confirmed to push the water out; then, the moving body 12 rotates in the opposite direction, so that the moving body 12 drives the water pushing device to push water in the water accumulation environment in the opposite direction (opposite to the previous water pushing direction and far away from the basin) for the next time, and the water pushing cleaning can be performed on the water accumulation environment which is not traversed. Thereby intelligently cleaning up the water remained on the table top of the hand washing table, avoiding the manual cleaning up of the water on the table top of the hand washing table, and being safer and time-saving and labor-saving. It should be noted that, the cliff detection sensor is not used for detecting whether to walk to the edge position of the table top of the hand washing platform, because, based on the foregoing embodiment, when the water pushing robot walks to a position of a preset safe distance from the edge position of the working surface on the working surface, the water pushing robot starts to adjust the current walking direction according to the preset clockwise direction (according to the distribution condition of the obstacle), and completes the turning so that the adjusted walking direction points to the preset edge position or the preset center position of the drainage area, so that the water pushing robot cannot walk to the edge of the table top of the hand washing platform, and the pushed accumulated water is prevented from overflowing to the ground.

The preset position is an edge position of a preset drain area or one drain position inside the preset drain area, preferably, the drain position is closer to the edge position of the water pushing robot, and the distance between the drain position and the edge position is not longer than the longitudinal length of the water pushing device, so that when the working surface is a table surface of a hand washing table, the water pushing robot is prevented from falling into a basin, and the edge position of the basin is the edge position of the preset drain area.

As an embodiment, the water pushing device is provided with a sensor for detecting the water accumulation amount of the front side surface of the water pushing device, and when the sensor detects that the water accumulation exists in front of the water pushing device or the water accumulation amount is higher than a certain threshold value, the water pushing robot walks to a position where the water accumulation exists or a position where the water accumulation amount is higher than a certain threshold value, and drives the water pushing device to push water at the position. Specifically, the water pushing robot can detect that in the current walking direction of the water pushing robot, accumulated water or accumulated water is higher than a certain threshold value in a position or an area where the distance between the water pushing robot and the water pushing robot is within a preset detection distance range in a visual image mode, and the water pushing robot walks to a position where accumulated water exists or a position where accumulated water is higher than a certain threshold value in a path planning mode and drives the water pushing device to push water at the position, so that the accumulated water flows into a drainage area. In some embodiments, the water pushing robot may travel to the detected position where the accumulated water exists or the detected position where the accumulated water is higher than a certain threshold according to the arcuate path, and then continue driving the water pushing device to push water according to the arcuate path until the accumulated water on the working surface is pushed to the preset position, so that the accumulated water flows into the drainage area. The intelligent degree of the water pushing operation of the water pushing robot is improved.

As an embodiment, the walking manner of the water pushing robot along the preset path on the working surface includes: the water pushing robot walks along the arched path on the working surface, and simultaneously drives the bottom of the water pushing device of the water pushing robot to keep contact with the working surface along the arched path so as to push water on the working surface, and absorbs accumulated water pushed and extruded by the front side surface of the water pushing device at a certain time interval or in real time, so that the water pushing robot is not easy to leak water in the process of turning according to a bending line of the arched path; wherein the certain time interval is related to the water accumulation amount existing on the front side surface of the water pushing device, and when the water accumulation amount existing on the front side surface of the water pushing device is detected to be more, the certain time interval is set to be smaller. In this embodiment, the preset path is an arcuate path, and the arcuate path includes a plurality of motion track segments parallel to each other; two adjacent motion track line segments which are parallel to each other have one end point connected through a bending line, and preferably, the length of the motion track line segments is greater than the length of the bending line.

In this embodiment, the water pushing device is further provided with water absorbing holes, the water absorbing holes are distributed on the inner side surface of the water pushing device along the edge of the bottom of the water pushing device, and when the edge of the bottom of the water pushing device contacts with the working surface, the water absorbing holes allow accumulated water concentrated on the bottom of the water pushing device to be absorbed; wherein the working surface is positioned in a ponding environment; the water sucking pipe is arranged to penetrate through the water pushing device and is communicated with the water sucking hole, wherein the water sucking pipe is connected with a water sucking pump arranged in the mobile body and used for generating suction force at the water sucking hole, and water pushed into the bottom of the water pushing part by the water pushing device is sucked into a water tank arranged in the mobile body. Specific structural details can be referred to the related embodiments of the water pushing robot, and are not described herein. In this embodiment, the water pushing robot turns according to a certain time period during walking along the arcuate path, so that water leakage is easy to occur, and under the suction effect provided by the suction pump arranged in the mobile body, accumulated water pushed out by the front side of the water pushing device is absorbed in real time through the suction hole according to a certain time interval or kept, so that the problem of water leakage possibly caused by the in-situ turning of the water pushing robot is avoided.

Further, the user observes ponding condition and drainage area (floor drain of shower room or basin inside of wash basin) of working face through the human-computer interaction interface (from the image that the camera that installs on the mobile organism of pushing away the water robot) of mobile device, then according to ponding condition go to appointed push away the water to the region that ponding is more by pushing away the water robot, also can monitor the water yield that the water tank that mobile organism inside set up stored, again the ponding that collects in the water tank is located to drain in necessary floor drain position department to accomplish drainage operation, to a great extent alleviates cleaner clean intensity of labour on site.

The above embodiments are merely for fully disclosing the present application, but not limiting the present application, and should be considered as the scope of the present disclosure based on the substitution of equivalent technical features of the inventive subject matter without creative work.

Claims

1. The water pushing robot is characterized by comprising a mobile machine body and a water pushing device; the water pushing device and the mobile body are assembled together in a butt joint way, and the water pushing robot is used for driving the water pushing device to move on the working surface and pushing accumulated water on the working surface to a preset position;

The water pushing device is provided with a sensor for detecting the water accumulation amount of the front side surface of the water pushing device, and when the sensor detects that the water accumulation exists in front of the water pushing device or the water accumulation amount is higher than a certain threshold value, the water pushing robot walks to the position where the water accumulation exists or the position where the water accumulation amount is higher than the certain threshold value and drives the water pushing device to push water at the position;

the water pushing device comprises a baffle and a water pushing part, and the water pushing part and the baffle are assembled together in a butt joint way, so that the edge of the water pushing part, which is not assembled with the baffle in a butt joint way, is contacted with the working surface;

After the baffle is assembled to the mobile body, the mobile body drives the water pushing device to push water in the working surface and to a preset drainage position, wherein the preset position is the preset drainage position;

The water pushing device is also provided with water absorbing holes which are distributed on the inner side surface of the water pushing part along the edge of the water pushing part, and when the edge of the water pushing part, which is not assembled in a butt joint way with the baffle, is in contact with the working surface, the water absorbing holes allow accumulated water concentrated at the bottom of the water pushing device to enter;

the outer side surface of the mobile body extends out of the water pumping pipe; a water suction port is arranged on one side of the baffle, which is in butt joint with the movable body, and is arranged to allow a water suction pipe to pass through and be communicated with the water suction hole, wherein the water suction pipe is connected with a water suction pump arranged in the movable body and is used for generating suction force at the water suction hole and sucking accumulated water pushed into the bottom of the water pushing part into a water tank arranged in the movable body;

the outer side surface of the mobile machine body is provided with a limiting piece, one side of the baffle plate, which is in butt joint with the mobile machine body, is provided with an assembly groove, and the limiting piece is used for being inserted into the assembly groove so as to butt joint and assemble the mobile machine body and the water pushing device together;

The driving wheels are assembled on the left side and the right side of the chassis of the mobile body, the bottoms of the driving wheels and the water pushing part are contacted with the working surface, and the working surface is a walking plane of the water pushing robot;

The movable body is further provided with a spring, one side of the baffle, which is assembled in a butt joint way with the movable body, is provided with a mounting hole, after the limiting piece is inserted into the assembly groove, the mounting hole is used for receiving the spring to penetrate into the water pushing device, so that two ends of the spring respectively support against the shell of the movable body and the support shell of the water pushing device, wherein after the acting force applied to the water pushing device from the outside is transferred to the spring, the spring provides restoring force for the water pushing device, and the water pushing device moves reciprocally along the central axis of the spring;

Wherein the bracket shell of the water pushing device is arranged as a shell for assembling the water pushing device and the water pushing part, and forms a carrier for receiving externally applied acting force by the water pushing part.

2. The water pushing robot of claim 1, wherein the water pushing part is assembled at the bottom of the baffle plate, and the water pushing part is a protrusion formed at the bottom of the baffle plate, and the top end of the protrusion is used for contacting with a pushing horizontal plane in the water accumulation environment;

the edge of the bottom of the baffle plate is parallel to the upper and lower edges of the bulge;

The size of the baffle in the length direction is larger than or equal to the size of the water pushing part in the length direction, and the size of the baffle in the width direction is larger than or equal to the size of the water pushing part in the width direction, so that the edge of the bottom of the baffle surrounds the edge of the water pushing part, which is assembled in a butt joint way with the baffle.

3. The water pushing robot of claim 2, wherein the water pushing part is a triangular prism or a combination of triangular prisms disposed along a bottom edge of the baffle plate, wherein a cross section of the water pushing part is triangular;

When the top end of the water pushing part is arranged to be in contact with the water pushing surface, the cross section of the water pushing part is inverted triangle at the bottom of the baffle plate.

4. The water pushing robot of claim 1, wherein the water pushing part is provided with a U-shaped opening, and the baffle is also provided with a U-shaped opening, so that the water pushing device formed by butt-jointing the water pushing part and the baffle is a U-shaped baffle, and after the U-shaped baffle is assembled to the mobile body, the U-shaped opening of the U-shaped water pushing device faces to the front end of the mobile body;

Or the water pushing part is provided with a linear opening, and the baffle is also provided with a linear opening, so that the water pushing device formed by butt joint and assembly of the water pushing part and the baffle is a linear baffle, and the linear baffle is arranged in parallel with the front end of the mobile machine body after being assembled to the mobile machine body.

5. The water pushing robot of claim 1, wherein a collision detection column is provided at one side of the baffle plate, which is butt-assembled with the movable body, and is connected with the water pushing part to receive an external force applied to the water pushing part, and the stopper is inserted into the assembly groove, and then inserted into the movable body to abut against a pressure sensor provided inside the movable body; the acting force externally applied to the water pushing device is transmitted to the pressure sensor arranged in the mobile body by the collision detection cylinder, so that the effect of collision detection of the water pushing robot is achieved.

6. The water pushing robot of claim 1, wherein a collision detection column is provided at one side of the baffle plate, which is butt-assembled with the movable body, and extends out of the mounting hole, the collision detection column is fixedly assembled with a bracket shell of the water pushing device, and the collision detection column passes through the spring to be inserted into the movable body after the limiting member is inserted into the assembly groove, wherein the collision detection column is inserted into the movable body along a central axis of the spring.

7. The water pushing robot of claim 6, wherein the limiting member is a hollow assembly structure having a hollow portion; the baffle internal fixation is provided with the assembly cylinder, the locating part inserts behind the mounting groove, the assembly cylinder pass the cavity position of locating part for after being collided by outside, under the effect of the restoring force that the spring produced, drive the assembly cylinder is in reciprocating motion in the locating part.

8. The water pushing robot of claim 1, wherein when the outer side surface of the moving body is limited to the front side surface of the moving body, the front side surface is the side surface of the moving body to which the advancing direction of the water pushing robot is directed, and the front end of the chassis of the moving body is the end of the chassis of the moving body to which the advancing direction of the water pushing robot is directed;

The side of the baffle plate, which is in butt joint with the movable body, is the rear side surface of the water pushing device, so that water scraped by the water pushing device is concentrated on the front side surface of the water pushing device;

The rear end of the water pushing part or the front end of the chassis of the mobile body is provided with a cliff detection sensor which is used for preventing the water pushing robot from falling off at the edge position of the working surface.

9. A water-pushing control method, characterized in that the water-pushing control method is implemented by the water-pushing robot according to any one of claims 1 to 4;

The water pushing control method comprises the following steps:

the water pushing robot walks along a preset path on the working surface, and the bottom of the water pushing device of the water pushing robot is kept in contact with the working surface so as to push water on the working surface;

Before the water pushing robot walks to the edge position of the working surface, the water pushing robot adjusts the walking direction so as to prevent accumulated water of the working surface from being pushed to the outside of the working surface, and adjusts the walking direction to point to a preset drainage area; then continuing to push water on the working surface according to the latest adjusted walking direction;

When the water pushing robot walks to the edge position of a preset drainage area, determining that the water pushing device has pushed accumulated water on the working surface to the preset position so that the accumulated water flows into the drainage area; and then the water pushing robot adjusts the walking direction so that the water pushing robot walks in the direction away from the drainage area and continues pushing water in the area which is not traversed on the working surface.

10. The water pushing control method according to claim 9, wherein when the water pushing robot walks on the work surface to a position of a preset safety distance from an edge position of the work surface, the water pushing robot starts to adjust a current walking direction according to a preset clockwise direction, and completes a turn so that the adjusted walking direction is directed to an edge position or a center position of a preset drainage area;

The preset safety distance is set as follows: the water pushing device is allowed to push accumulated water concentrated on the front side surface of the water pushing device to the preset position rather than pushing out the outer part of the working surface in the process of turning, wherein a preset water draining area is arranged inside the working surface and is surrounded by the edge of the working surface.

11. The water pushing control method according to claim 10, wherein the water pushing device is provided with a sensor for detecting the amount of water accumulated on a front side surface thereof, and when the sensor detects that the front side surface of the water pushing device has no water accumulated or the amount of water accumulated is below a certain threshold value, the water pushing robot determines that the water pushing device has pushed the water accumulated to the preset position, and then turns to continue pushing water on the working surface in a direction opposite to the current traveling direction;

And/or the front end of the chassis of the mobile body or the rear end of the water pushing device is provided with a cliff detection sensor; when the water pushing robot detects that the distance change value sensed by the cliff detection sensor is larger than a preset distance threshold value, the water pushing robot determines that the water pushing device has pushed accumulated water to the preset position, and then the water pushing robot turns to continue pushing water on the working surface in the direction opposite to the current walking direction;

Wherein the preset position is an edge position of a preset drainage area or one drainage position inside the preset drainage area.

12. The water pushing control method according to claim 9, wherein the manner in which the water pushing robot walks along the preset path on the working surface includes:

the water pushing robot walks along the arched path on the working surface, and simultaneously drives the bottom of the water pushing device of the water pushing robot to keep contact with the working surface along the arched path so as to push water on the working surface, and absorbs accumulated water pushed and extruded by the front side surface of the water pushing device at a certain time interval or in real time, so that the water pushing robot is not easy to leak water in the process of turning according to a bending line of the arched path; wherein the certain time interval is related to the accumulated water quantity existing on the front side surface of the water pushing device;

the preset path is an arcuate path, and the arcuate path comprises a plurality of mutually parallel motion track line segments; two adjacent motion track line segments which are parallel to each other are connected through a bending line at one end point;

The water pushing device is further provided with water absorbing holes, the water absorbing holes are distributed on the inner side surface of the water pushing device along the edge of the bottom of the water pushing device, and when the edge of the bottom of the water pushing device is contacted with the working surface, the water absorbing holes allow accumulated water concentrated on the bottom of the water pushing device to be absorbed;

The outer side surface of the mobile body extends out of the water pumping pipe, is arranged to pass through the water pushing device and is communicated with the water sucking hole, wherein the water pushing device comprises a baffle plate and a water pushing part; the water suction pipe is connected with a water suction pump arranged in the mobile machine body and used for generating suction force at the water suction hole, and water pushed into the bottom of the water pushing part by the water pushing device is sucked into a water tank arranged in the mobile machine body.