CN113854892B - Cleaning device capable of automatically planning path - Google Patents
Cleaning device capable of automatically planning path Download PDFInfo
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- CN113854892B CN113854892B CN202111225450.7A CN202111225450A CN113854892B CN 113854892 B CN113854892 B CN 113854892B CN 202111225450 A CN202111225450 A CN 202111225450A CN 113854892 B CN113854892 B CN 113854892B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention relates to the technical field of intelligent control, and particularly discloses a cleaning device capable of automatically planning a path, which comprises a shell, a cleaning mechanism, a control mechanism, a distance measuring mechanism, an adsorption mechanism and a driving mechanism, wherein the distance measuring mechanism is used for acquiring distance data between the cleaning device and a frame of a cleaning area, the control mechanism is used for generating an operation control instruction according to the distance data and a preset path planning strategy, and sending the operation control instruction to the adsorption mechanism and the driving mechanism, the adsorption mechanism is used for executing the operation control instruction to form negative pressure with a cleaning surface, the driving mechanism is used for executing the operation control instruction to drive the cleaning device to move on the cleaning surface in a preset direction, and the cleaning mechanism is arranged at the bottom of the shell. The automatic cleaning machine has the advantages of compact structure, comprehensive functions, manpower saving and good cleaning effect, is very suitable for automatic cleaning of glass surfaces and ceramic tile surfaces, and meets the requirements of the modern society very much.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a cleaning device capable of automatically planning a path.
Background
With the gradual expansion of human activity range and the continuous improvement of intelligentization requirements, the application of robots is related to various fields and is more and more common. Many countries have paid attention to robotics as a key development strategy, and research on related technologies has become a future development direction and a necessary trend of social development.
In recent years, the urbanization process of China is accelerated, and more high buildings appear in cities; meanwhile, with the increase of the consumption level of people, commercial stores are more and more, and the glass cleaning facing high-rise residences or commercial places becomes a huge market. As far as today, essentially all homes and commercial stores still use manual hand scrubbing of glass windows, the large area of glass windows increases the repetitive labor of the people. People's life rhythm accelerates, and more families rarely have the time to clean the glass window, leads to the glass window pollutant to increase, neither pleasing to the eye also makes the printing opacity effect of window worsen, and the work of cleaning of window outside the family house becomes time-consuming and laboursome, very inconvenient and dangerous. The existing window-cleaning tools and the corresponding disadvantages are: (1) the magnetic attraction glass brush has the defects of time and labor waste, manual operation, difficulty in opening after magnetic attraction is mistakenly absorbed, convenience in handling and the like; (2) the telescopic glass wiper has the defects that manual work is needed and the outer glass cannot be wiped; (3) the round bar window wiping robot has the defects of incapability of wiping window corners and incomplete cleaning caused by shape reasons; (4) although the square window cleaning robot can clean a window corner, the square window cleaning robot cannot achieve the effects of straightening and complete path planning, cannot achieve obstacle crossing and is only limited to a structure of cleaning one glass.
Therefore, a cleaning device capable of self-correcting the pose and planning the path and having a good cleaning effect needs to be designed by those skilled in the art to solve the above technical problems.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a cleaning device capable of automatically planning a path.
A cleaning device capable of automatically planning a path comprises an outer shell, a cleaning mechanism, a control mechanism, a distance measuring mechanism, an adsorption mechanism and a driving mechanism, wherein the distance measuring mechanism, the adsorption mechanism and the driving mechanism are electrically connected with the control mechanism;
the distance measuring mechanism is used for acquiring distance data between the cleaning device and a frame of a cleaning area, and comprises a first distance measuring sensor, a second distance measuring sensor, a third distance measuring sensor, a fourth distance measuring sensor, a fifth distance measuring sensor and a sixth distance measuring sensor, wherein the first distance measuring sensor and the second distance measuring sensor are respectively arranged at the left end and the right end of the front side of the outer shell, the third distance measuring sensor and the fourth distance measuring sensor are respectively arranged at the rear side of the outer shell, the first distance measuring sensor and the fourth distance measuring sensor are opposite in position, the second distance measuring sensor and the third distance measuring sensor are opposite in position, and the fifth distance measuring sensor and the sixth distance measuring sensor are respectively arranged at the left side and the right side of the outer shell;
the control mechanism is used for generating an operation control instruction according to the distance data and a preset path planning strategy and sending the operation control instruction to the adsorption mechanism and the driving mechanism; the path planning strategy comprises the following steps: acquiring distance data which are respectively L1, L2, L3, L4, L5 and L6; judging whether the cleaning device is in the correct posture according to the distance data, if not, enabling the cleaning device to rotate, and judging whether the cleaning device is in the correct posture again; if so, generating a return starting point path according to the distance data, and enabling the cleaning device to move to reach the starting point position; generating a cleaning path according to the distance data and the starting point position;
the adsorption mechanism is used for executing an operation control command to form negative pressure with the cleaning surface and comprises a first negative pressure component and a second negative pressure component which are respectively arranged on the left side and the right side in the outer shell;
the driving mechanism is used for executing an operation control command to drive the cleaning device to move on the cleaning surface in a preset direction and is arranged at the bottom of the outer shell;
the cleaning mechanism is arranged at the bottom of the outer shell;
wherein, judge whether cleaning device is positive position appearance according to distance data, include:
judging whether L1-L2 and L3-L4 are true or not;
if not, the cleaning device is not in a positive pose;
if so, selecting a larger value from L5 and L6, and enabling the cleaning device to move towards the corresponding direction by a first set distance;
acquiring distance data of the cleaning device after moving, wherein the distance data are respectively L1 ', L2', L3 ', L4', L5 'and L6';
judging whether L1 ═ L2 'and L3 ═ L4' are true or not; if not, the cleaning device is not in a positive pose;
if so, the cleaning device is in a positive pose.
Further, the cleaning device is rotated, including:
the angle of rotation alpha of the cleaning device is calculated,
wherein a is between the first and second ranging sensorsA distance;
or calculating the rotation angle alpha' of the cleaning device,
the cleaning device rotates counterclockwise by an angle alpha or an angle alpha' around the center of the cleaning device.
Further, judge whether cleaning device is the appearance of just positioning according to the distance data, still include:
if L1 ═ L2 and L3 ═ L4 are true, determining whether the larger of L5 and L6 is greater than or equal to a first set distance;
if yes, the cleaning device is moved to the corresponding direction for a first set distance;
if not, selecting a larger value from L1 and L4, moving the cleaning device to the corresponding direction for a second set distance, and then moving the cleaning device to the corresponding direction for the first set distance.
Further, generating a regression starting point path from the distance data and moving the cleaning device to the starting point position includes:
selecting the smaller MIN1 from L1 and L4, and moving the cleaning device in the corresponding direction by MIN1 distance;
the smaller of the values MIN2 is selected from L5 and L6, and the cleaning apparatus is moved a distance MIN2 in the corresponding direction.
Further, generating a cleaning path according to the distance data and the starting point position includes:
obtaining distance data at the starting position, respectively, L1 ', L2', L3 ', L4', L5 ', L6';
defining the end position as the diagonal position of the starting position;
the cleaning path is an arcuate path from the start position until the end position is reached, and the cleaning path passes the end position at least twice.
Further, the cleaning device further comprises a rotating mechanism electrically connected with the control mechanism, wherein:
the first negative pressure component and the second negative pressure component respectively comprise an inner layer cylinder, a middle layer cylinder and an outer layer cylinder; the outer layer cylinder is fixedly arranged in the outer shell, a stepping motor is fixedly arranged on the outer layer cylinder, and a gear is fixedly arranged at the output end of the stepping motor; the middle layer cylinder is in threaded connection with the outer layer cylinder; the inner layer cylinder is in threaded connection with the middle layer cylinder, the side surface of the upper end of the inner layer cylinder is in meshed connection with the gear, and a centrifugal fan is installed in the inner layer cylinder;
and the rotating mechanism is positioned between the first negative pressure assembly and the second negative pressure assembly, and two ends of a rotating shaft of the rotating mechanism are fixedly connected with the outer cylinders of the first negative pressure assembly and the second negative pressure assembly respectively.
Further, actuating mechanism includes driving motor, reduction gear, first transfer line, second transfer line and first walking subassembly, second walking subassembly, wherein:
the driving motor is fixedly connected with an input shaft of the speed reducer, and two output ends of the speed reducer are in transmission connection with the first walking assembly and the second walking assembly through a first transmission rod and a second transmission rod respectively.
Furthermore, the first walking assembly and the second walking assembly respectively comprise a transmission gear, a crawler belt, a connecting plate and a driven wheel;
the output end of the speed reducer is coaxially connected with the transmission gear;
the transmission gear is rotationally connected to the front side of the connecting plate, and the driven wheel is rotationally connected to the rear side of the connecting plate;
the crawler belt is sleeved outside the connecting plate, the transmission gear and the driven wheel, and limiting teeth meshed with the transmission gear and the driven wheel are arranged on the inner surface of the crawler belt.
Further, the cleaning mechanism comprises a fiber water-locking cloth arranged on the left side of the bottom of the outer shell and a high-density sponge arranged on the right side of the bottom of the outer shell.
Further, the bottom of the outer shell is also provided with at least one turbidity sensor which is electrically connected with the control mechanism;
the control mechanism acquires a turbidity detection value of the turbidity sensor and compares the turbidity detection value with a preset threshold value;
if the turbidity detection value is less than or equal to the preset threshold value, the control mechanism generates a continuous cleaning instruction;
and if the turbidity detection value is larger than the preset threshold value, the control mechanism generates a repeated cleaning instruction.
The cleaning device capable of automatically planning the path, disclosed by the invention, has the advantages that the distance measuring mechanism measures the distance between the periphery of the device and a frame of a cleaning area, the distance measuring mechanism is used as a control mechanism for judging the pose of the device, righting the position, returning the starting point and planning the cleaning path, a control instruction is correspondingly generated, under the control instruction, the driving mechanism provides power for the cleaning device to move on the glass according to a preset route, the rotating mechanism enables the whole body to rotate when the cleaning device gets over obstacles, the cleaning mechanism is used for wiping off dirt and water stains on the surface of the glass in the moving process of the cleaning device, the adsorption mechanism enables the cleaning device to be adsorbed on the glass by utilizing negative pressure, the obstacle crossing of the cleaning device is realized by matching with the rotating mechanism, the whole device is compact in structure, comprehensive in function, labor-saving and good in cleaning effect, is very suitable for automatic cleaning of glass surfaces and ceramic tile surfaces, and meets the requirements of the modern society very much.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a cleaning device for automatically planning a path according to an embodiment of the present invention;
FIG. 2 is a perspective view of the internal structure of a cleaning device for automatically planning a path according to an embodiment of the present invention;
FIG. 3 is a top view of the internal structure of a cleaning device for automatically planning a path according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of a driving mechanism in a cleaning device for automatically planning a path according to an embodiment of the present invention;
FIG. 5 is a bottom view of a cleaning device with an automatic path planning function according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an electrical connection of a cleaning device with an auto path planning function according to an embodiment of the present invention;
FIG. 7 is a schematic diagram (one) illustrating a position of a cleaning apparatus for automatically planning a path according to an embodiment of the present invention;
fig. 8 is a schematic position diagram (ii) of a cleaning apparatus for automatically planning a path according to an embodiment of the present invention;
fig. 9 is a schematic position diagram (three) of a cleaning device for automatically planning a path according to an embodiment of the present invention;
fig. 10 is a schematic position diagram (four) of a cleaning device for automatically planning a path according to an embodiment of the present invention;
wherein: 1-outer shell, 2-cleaning mechanism, 201-202-, 3-control mechanism, 4-ranging mechanism, 401-first ranging sensor, 402-second ranging sensor, 403-third ranging sensor, 404-fourth ranging sensor, 405-fifth ranging sensor, 406-sixth ranging sensor, 5-adsorption mechanism, 501-first negative pressure component, 502-second negative pressure component, 503-inner layer cylinder, 504-middle layer cylinder, 505-outer layer cylinder, 506-stepping motor, 507-gear, 508-centrifugal fan, 6-driving mechanism, 601-driving motor, 602-speed reducer, 603-first transmission rod, 604-second transmission rod, 605-first walking component, 606-second walking component, 607-drive gear, 608-track, 609-connecting plate, 610-driven wheel, 7-rotation mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the cleaning device of an embodiment of the present invention includes an outer casing 1, a cleaning mechanism 2, a control mechanism 3, and a distance measuring mechanism 4, an adsorbing mechanism 5, and a driving mechanism 6 electrically connected to the control mechanism 3. The cleaning device of the embodiment of the invention is more suitable for cleaning smooth surfaces with regular shapes, such as indoor and outdoor window glass, bathroom mirrors, ceramic tiles and the like.
The distance measuring mechanism 4 is configured to obtain distance data between the cleaning device and a frame of the cleaning area, as shown in fig. 3, the distance measuring mechanism 4 includes a first distance measuring sensor 401, a second distance measuring sensor 402, a third distance measuring sensor 403, a fourth distance measuring sensor 404, a fifth distance measuring sensor 405 and a sixth distance measuring sensor 406, the first distance measuring sensor 401 and the second distance measuring sensor 402 are respectively installed at the left end and the right end of the front side of the outer housing 1, the third distance measuring sensor 403 and the fourth distance measuring sensor 404 are installed at the rear side of the outer housing 1, the first distance measuring sensor 403 is opposite to the fourth distance measuring sensor 404, the second distance measuring sensor 402 is opposite to the third distance measuring sensor 402, and the fifth distance measuring sensor 405 and the sixth distance measuring sensor 406 are respectively installed at the left side and the right side of the outer housing 1. Distance data of the first ranging sensor 401, the second ranging sensor 402, the third ranging sensor 403, the fourth ranging sensor 404, the fifth ranging sensor 405, and the sixth ranging sensor 406 are denoted as L1, L2, L3, L4, L5, and L6, respectively.
The control mechanism 3 is used for generating an operation control instruction according to the distance data and a preset path planning strategy and sending the operation control instruction to the adsorption mechanism 5 and the driving mechanism 6; the path planning strategy comprises the following steps: acquiring distance data which are respectively L1, L2, L3, L4, L5 and L6; judging whether the cleaning device is in the correct posture according to the distance data, if not, enabling the cleaning device to rotate, and judging whether the cleaning device is in the correct posture again; if so, generating a return starting point path according to the distance data, and enabling the cleaning device to move to reach the starting point position; and generating a cleaning path according to the distance data and the starting point position. The cleaning device provided by the invention firstly needs to judge according to the original position, moves to the initial position and plans the cleaning path only under the condition of the correct posture, and the generated cleaning path can ensure the complete traversal of the cleaning area, and can avoid the repetition of the path, thereby achieving the best cleaning effect.
The adsorption mechanism 5 is used for executing an operation control instruction to form negative pressure with the cleaning surface, the adsorption mechanism 5 comprises a first negative pressure component 501 and a second negative pressure component 502, and the first negative pressure component 501 and the second negative pressure component 502 are respectively arranged on the left side and the right side in the outer shell 1. For the vertically installed window glass, the cleaning device needs to move in the cleaning process, a negative pressure environment is formed between the adsorption mechanism 5 and the cleaning surface, the balance of adsorption and movement is achieved, the cleaning device cannot fall off in the moving cleaning process, and the smooth cleaning operation is guaranteed.
And the driving mechanism 6 is used for executing operation control instructions to drive the cleaning device to move on the cleaning surface in a preset direction, and the driving mechanism 6 is arranged at the bottom of the outer shell 1. The entire device is powered by the drive mechanism 6 when the cleaning device is adjusted in position, returned to a starting position or moved along a cleaning path.
The cleaning mechanism 2 is mounted at the bottom of the outer housing 1. The cleaning mechanism 2 is used for cleaning the cleaning surface and comprises a fiber water locking cloth 201 installed on the left side of the bottom of the outer shell 1 and a high-density sponge 202 installed on the right side of the bottom of the outer shell 1, and the design not only has a cleaning function, but also can provide sealing performance of a negative pressure environment between the cleaning device and the cleaning surface. When cleaning device carries out the during operation, the lock water cloth that has soaked the cleaning solution carries out powerful wiping to the cleaning surface under the negative pressure effect, and it is clean to erase the spot, and along with cleaning device's removal, the high density sponge carries out the second and cleans, can erase the water spot of leaving over simultaneously for the cleaning surface is bright and clean. The cleaning device provided by the embodiment of the invention can clean various stains such as water stains, rain stains, floating dust, haze stains, dust, ink stains, water color pens, cosmetics, wall dust, beverage stains and the like, and can be matched with special glass water to achieve a better cleaning effect when cleaning glass.
Wherein, control mechanism 3 judges whether cleaning device is positive position appearance according to the distance data, includes:
judging whether L1-L2 and L3-L4 are true or not; as shown in fig. 7 to 8, there are two positions of the cleaning device when L1 is L2 and L3 is L4, that is, there is a possibility of a positive position, that is, there is a possibility of being located right on the diagonal of the rectangle (i.e., position a in fig. 7), and at this time, it cannot be directly determined that the cleaning device belongs to the positive position, but as long as L1 is not equal to L2 or L3 is not equal to L4, it can be determined that the cleaning device is not in the positive position. Therefore, if not, the cleaning device is not in a positive posture.
If so, selecting the larger value of L5 and L6, and moving the cleaning device to the corresponding direction by the first set distance. Assuming that L5 is greater than L6, the cleaning device is moved a first set distance in the direction of the side of L5, e.g., if the original position of the cleaning device is on the diagonal of the rectangle, the cleaning device will not be moved the first set distance and then will not be moved the diagonal. The distance data after the cleaning device is moved are acquired again after the cleaning device is moved and are respectively L1 ', L2', L3 ', L4', L5 'and L6'.
Judging whether L1 ═ L2 'and L3 ═ L4' are true or not; if not, the cleaning device is not in a positive pose;
if so, the cleaning device is in a positive pose. The cleaning device is in the positive position if it is able to satisfy L1 ═ L2, L3 ═ L4, and L1 ═ L2 ', and L3 ═ L4' both before and after the movement.
When the cleaning device is judged not to be in the positive pose, the cleaning device needs to be rotated according to a path planning strategy, then the pose judgment mode is used for further judgment again, a return starting point path is generated according to the distance data after the cleaning device reaches the positive pose, the cleaning device is made to move to reach the starting point position, then a cleaning path is generated according to the distance data and the starting point position, and then walking cleaning is carried out according to the cleaning path.
According to the embodiment of the invention, the distance measuring mechanism is adopted to obtain the distance data between the cleaning device and the frame of the cleaning area, and the control mechanism realizes the functions of pose determination, position correction, starting point regression, cleaning path planning and the like by processing the distance data.
Specifically, on the basis of the above embodiment, the embodiment of the present invention, in which the cleaning device is rotated, includes:
the angle of rotation alpha of the cleaning device is calculated,
wherein a is the distance between the first ranging sensor and the second ranging sensor;
or calculating the rotation angle alpha' of the cleaning device,
the cleaning device rotates counterclockwise by an angle alpha or an angle alpha' around the center of the cleaning device.
As shown in fig. 9, when it is determined that L1-L2 and L3-L4 are not satisfied, the rotation angle α of the cleaning device is calculated,
if the L1 is judged to be L2, and the L3 is judged to be L4, after the cleaning device is moved for the first set distance, the L1 ' is judged to be L2 ', and the L3 ' is judged to be L4 ', the rotation angle alpha ' of the cleaning device is calculated,
the rotation of the cleaning device according to the embodiment of the present invention is realized by means of the driving mechanism 6, and the embodiment of the present invention is not particularly limited to the specific configuration of the driving mechanism 6, and those skilled in the art can combine the functions with the prior art.
Specifically, on the basis of the previous embodiment, in the path planning strategy, the embodiment of the present invention: judge whether cleaning device is the positive position appearance according to distance data, still include:
if L1 is L2 and L3 is L4, it is determined whether the larger of L5 and L6 is greater than or equal to the first set distance.
If yes, the cleaning device is moved to the corresponding direction by a first set distance.
If not, the cleaning device cannot move the first set distance in the corresponding direction, so that the larger value is selected from L1 and L4, the cleaning device is moved to the corresponding direction by the second set distance, and then the cleaning device is moved to the corresponding direction by the first set distance. As shown in fig. 7, assuming that the larger value of L5 and L6 in the cleaning device at the a position is smaller than the first set distance, when L1 is smaller than L4, the cleaning device is moved first by the second set distance in the direction of L4, and then moved by the first set distance in the direction corresponding to the larger value of L5 and L6, and reaches the B position.
At the moment, whether the posture is positive or not is judged, and rotation is carried out under the condition of non-positive posture.
Specifically, on the basis of the previous embodiment, in the path planning strategy, the embodiment of the present invention: generating a regression starting point path from the distance data and moving the cleaning device to the starting point position, comprising:
selecting the smaller MIN1 from L1 and L4, and moving the cleaning device in the corresponding direction by MIN1 distance;
the smaller of the values MIN2 is selected from L5 and L6, and the cleaning apparatus is moved a distance MIN2 in the corresponding direction.
In the embodiment, a smaller value is selected to perform regression of the starting point position, so that the power consumption of the cleaning device is reduced as much as possible. The premise of returning to the starting point position in this embodiment is that the cleaning device has reached the positive attitude, and at this time, the cleaning device can directly reach the vertex position of the frame of the cleaning region by directly moving in the horizontal direction or the vertical direction.
Specifically, on the basis of the previous embodiment, in the path planning strategy, the embodiment of the present invention: generating a cleaning path based on the distance data and the starting point location, comprising:
obtaining distance data at the starting position, respectively, L1 ', L2', L3 ', L4', L5 ', L6';
defining the end position as the diagonal position of the starting position;
the cleaning path is an arcuate path from the start position until the end position is reached, and the cleaning path passes the end position at least twice.
The present embodiment can calculate the size of the cleaning region by the acquired distance data, for example, the sash width being the sum of L5 '″ and L6' ″ and the sash height being the sum of L1 '″ and L4' ″ or the sum of L2 '″ and L3' ″. Knowing the size of the cleaning area and the starting point position, the end point position can be calculated at a diagonal distance from the starting point position.
In this embodiment, the cleaning path is limited to be arcuate, as shown in fig. 10, and after the cleaning path reaches the end point for the first time, the last cleaning track (horizontal or vertical) is repeated again, so that the cleaning device passes through the end point twice, and it is ensured that the line where the end point is located can be cleaned.
Specifically, as shown in fig. 2 and 3, the cleaning device further includes a rotating mechanism 7 electrically connected to the control mechanism 3, the rotating mechanism 7 is electrically connected to the control mechanism 3, wherein: the first negative pressure assembly 501 and the second negative pressure assembly 502 both comprise an inner layer cylinder 503, a middle layer cylinder 504 and an outer layer cylinder 505; the outer layer cylinder 505 is fixedly arranged in the outer shell 1, a stepping motor 506 is fixedly arranged on the outer layer cylinder, and a gear 507 is fixedly arranged at the output end of the stepping motor 506; the middle layer cylinder 504 is in threaded connection with the outer layer cylinder 505; the inner layer cylinder 503 is in threaded connection with the middle layer cylinder 504, the side face of the upper end of the inner layer cylinder 503 is in meshed connection with a gear 507, and a centrifugal fan 508 is arranged in the inner layer cylinder 503; and the rotating mechanism 7 is used for executing an operation control instruction to enable the cleaning device to rotate, the rotating mechanism 7 is located between the first negative pressure component 501 and the second negative pressure component 502, and two ends of a rotating shaft of the rotating mechanism 7 are fixedly connected with the outer-layer cylinders 505 of the first negative pressure component 501 and the second negative pressure component 502 respectively.
The rotating mechanism 7 of the embodiment at least comprises a hollow rotating platform structure with a speed reducer, and the structure has the advantages of high repeated positioning accuracy and high rigidity, can drive the whole device to rotate, and can accurately adjust the rotating angle. In this embodiment, the rotating shaft of the rotating mechanism 7 is fixedly connected to the outer layer cylinders 505 of the first negative pressure assembly 501 and the second negative pressure assembly 502, the outer layer cylinders 505 of the first negative pressure assembly 501 and the second negative pressure assembly 502 are in threaded connection with the middle layer cylinder 504, and the middle layer cylinder 504 is in threaded connection with the inner layer cylinder 503, so that after the cleaning device finishes cleaning the glass of the window frame, the obstacle crossing can be realized by the following steps, and the cleaning device enters the next window frame to clean the glass of another side:
(1) the middle barrel 504 in the first negative pressure assembly 501 extends out of the outer housing 1: the stepping motor 506 in the first negative pressure component 501 rotates to drive the gear 507 to rotate, the outer layer cylinder 505 is fixedly installed in the outer shell 1, the middle layer cylinder 504 is in threaded connection with the outer layer cylinder 505 and the inner layer cylinder 503, and the gear 507 is in meshed connection with the side face of the upper end of the inner layer cylinder 503, so that the middle layer cylinder 504 can be screwed up and down relative to the outer layer cylinder 505 and the inner layer cylinder 503, the middle layer cylinder 504 in the first negative pressure component 501 extends out of the outer shell 1, the negative pressure of the second negative pressure component 502 is temporarily closed in the process, the power of the centrifugal fan 508 in the first negative pressure component 501 is increased, and the cleaning device can be tightly adsorbed on a cleaning surface through the first negative pressure component 501.
(2) Rotating the cleaning device: the rotating mechanism rotates, and the first negative pressure component 501 is tightly adsorbed on the cleaning surface and cannot rotate, so that the second negative pressure component 502 rotates along with the rotation of the rotating mechanism 7, at the moment, the cleaning device integrally rotates by 180 degrees, the second negative pressure component 502 reaches the position above the other surface of the glass outside the window frame, and the first negative pressure component 501 is also adsorbed on the surface of the glass which is just cleaned.
(3) The middle barrel 504 in the second negative pressure assembly 502 extends out of the outer housing 1: the stepping motor 506 in the second negative pressure assembly 502 rotates to drive the gear 507 to rotate, so that the middle cylinder 504 in the second negative pressure assembly 502 extends out of the outer shell 1.
(4) After the negative pressure of the second negative pressure component 502 is opened and increased, the negative pressure of the first negative pressure component 501 is closed.
(5) Retracting the middle cartridge 504 of the first negative pressure assembly 501: this process is the reverse of the process in which the middle cartridge 504 extends out of the outer housing 1, and is not described in detail here.
(6) Rotating the cleaning device again: the process of this time rotating the cleaning device is also opposite to that of step (2), one side of the second negative pressure assembly 502 is fixed, and one side of the first negative pressure assembly 501 rotates 180 degrees, at this time, the whole cleaning device is located on the glass to be cleaned.
(7) Retracting the middle cartridge 504 of the second negative pressure assembly 502: the process is similar to step (5), and is not described herein again.
(8) The negative pressure of the first negative pressure assembly 501 is turned on to reduce the power of the centrifugal fan 508 in the second negative pressure assembly 502 to be the same as the first negative pressure assembly 501.
Specifically, as shown in fig. 4, the driving mechanism 6 includes a driving motor 601, a speed reducer 602, a first driving rod 603, a second driving rod 604, and a first traveling assembly 605 and a second traveling assembly 606, wherein: the driving motor 601 is fixedly connected to an input shaft of the speed reducer 602, and two output ends of the speed reducer 602 are respectively connected to the first traveling assembly 605 and the second traveling assembly 606 through a first transmission rod 603 and a second transmission rod 604 in a transmission manner. The driving motor 601 is a power part of the driving mechanism 6, and when the rotating speed reaches a certain value, the cleaning apparatus has a certain traveling speed, and the traveling speeds of the first traveling unit 605 and the second traveling unit are different from each other by the speed reducer 602, thereby achieving steering.
Specifically, as shown in fig. 4, each of the first and second running assemblies 605 and 606 includes a transmission gear 607, a track 608, a connecting plate 609, and a driven wheel 610; the output end of the reducer 602 is coaxially connected with the transmission gear 607; the transmission gear 607 is rotationally connected with the front side of the connecting plate 609, and the driven wheel 610 is rotationally connected with the rear side of the connecting plate 609; the crawler belt 608 is sleeved outside the connecting plate 609, the transmission gear 607 and the driven wheel 610, and the inner surface of the crawler belt 608 is provided with limit teeth meshed with the transmission gear 607 and the driven wheel 610. According to the embodiment of the invention, the crawler belt 608 made of rubber is preferably used, and the outer surface of the crawler belt 608 is provided with the grains, so that the ground can be well grabbed, and the cleaning device can smoothly walk on the smooth surface such as glass.
Specifically, the bottom of the outer shell 1 is also provided with at least one turbidity sensor which is electrically connected with the control mechanism 3; the control mechanism 3 acquires a turbidity detection value of the turbidity sensor and compares the turbidity detection value with a preset threshold value; if the turbidity detection value is less than or equal to the preset threshold value, the control mechanism generates a continuous cleaning instruction; if the turbidity detection value is larger than the preset threshold value, the control mechanism generates a repeated cleaning instruction to clean the cleaning surface again. Preferably, the cleaning path for cleaning again and the cleaning path for cleaning first are planned to be arcuate paths at 90 degrees.
The embodiment of the invention provides a cleaning device capable of automatically planning a path, wherein a distance measuring mechanism measures the distance between the periphery of the device and a frame of a cleaning area, the distance measuring mechanism is used as a control mechanism for judging the pose of the device, righting the position, returning the starting point and planning the cleaning path, and correspondingly generating a control instruction, under the control instruction, a driving mechanism provides power for the cleaning device to move on glass according to a preset path, a rotating mechanism enables the whole cleaning device to rotate when the cleaning device gets across the obstacle, a cleaning mechanism is used for wiping off dirt and water stains on the surface of the glass in the moving process of the cleaning device, an adsorption mechanism enables the cleaning device to be adsorbed on the glass by using negative pressure and is matched with the rotating mechanism to realize the obstacle crossing of the cleaning device, the whole cleaning device has compact structure, comprehensive functions, good manpower saving and cleaning effects, and is very suitable for the automatic cleaning of glass surfaces and ceramic tile surfaces, the method is very suitable for the requirements of modern society.
The present invention has been further described with reference to specific embodiments, but it should be understood that the detailed description should not be construed as limiting the spirit and scope of the present invention, and various modifications made to the above-described embodiments by those of ordinary skill in the art after reading this specification are within the scope of the present invention.
Claims (9)
1. The cleaning device capable of automatically planning the path is characterized by comprising an outer shell, a cleaning mechanism, a control mechanism, a distance measuring mechanism, an adsorption mechanism and a driving mechanism, wherein the distance measuring mechanism, the adsorption mechanism and the driving mechanism are electrically connected with the control mechanism;
the distance measuring mechanism is used for acquiring distance data between the cleaning device and a frame of a cleaning area, and comprises a first distance measuring sensor, a second distance measuring sensor, a third distance measuring sensor, a fourth distance measuring sensor, a fifth distance measuring sensor and a sixth distance measuring sensor, wherein the first distance measuring sensor and the second distance measuring sensor are respectively arranged at the left end and the right end of the front side of the outer shell, the third distance measuring sensor and the fourth distance measuring sensor are arranged at the rear side of the outer shell, the first distance measuring sensor and the fourth distance measuring sensor are opposite in position, the second distance measuring sensor and the third distance measuring sensor are opposite in position, and the fifth distance measuring sensor and the sixth distance measuring sensor are respectively arranged at the left side and the right side of the outer shell;
the control mechanism is used for generating an operation control instruction according to the distance data and a preset path planning strategy and sending the operation control instruction to the adsorption mechanism and the driving mechanism; the path planning strategy comprises: acquiring the distance data which are respectively L1, L2, L3, L4, L5 and L6; judging whether the cleaning device is in the correct posture according to the distance data, if not, enabling the cleaning device to rotate, and judging whether the cleaning device is in the correct posture again; if so, generating a regression starting point path according to the distance data, and enabling the cleaning device to move to reach the starting point position; generating a cleaning path according to the distance data and the starting point position;
the adsorption mechanism is used for executing the operation control instruction to form negative pressure with a cleaning surface, and comprises a first negative pressure component and a second negative pressure component which are respectively arranged on the left side and the right side in the outer shell;
the driving mechanism is used for executing the operation control instruction to drive the cleaning device to move on the cleaning surface in a preset direction, and the driving mechanism is installed at the bottom of the outer shell;
the cleaning mechanism is arranged at the bottom of the outer shell;
wherein, judge whether cleaning device is positive position appearance according to the distance data, include:
judging whether L1-L2 and L3-L4 are true or not;
if not, the cleaning device is not in a positive pose;
if so, selecting a larger value from L5 and L6, and moving the cleaning device to the corresponding direction by a first set distance;
acquiring distance data of the cleaning device after moving, wherein the distance data are respectively L1 ', L2', L3 ', L4', L5 'and L6';
judging whether L1 ═ L2 'and L3 ═ L4' are true or not; if not, the cleaning device is not in a positive pose;
if yes, the cleaning device is in a positive pose;
judging whether the cleaning device is in a correct posture according to the distance data, and further comprising: if L1 ═ L2 and L3 ═ L4 are true, determining whether the larger of L5 and L6 is greater than or equal to the first set distance; if yes, the cleaning device is moved to the corresponding direction for a first set distance; if not, selecting a larger value from L1 and L4, moving the cleaning device to the corresponding direction for a second set distance, and then moving the cleaning device to the corresponding direction for the first set distance.
2. The cleaning apparatus for automatically planning a path according to claim 1, wherein rotating the cleaning apparatus comprises:
the angle of rotation alpha of the cleaning device is calculated,
wherein a is the distance between the first ranging sensor and the second ranging sensor;
or calculating the rotation angle alpha' of the cleaning device,
the cleaning device rotates counterclockwise by an angle alpha or an angle alpha' around the center of the cleaning device.
3. The cleaning device for automatically planning a path according to claim 1, wherein generating a regression starting point path according to the distance data and moving the cleaning device to the starting point position comprises:
selecting the smaller MIN1 from L1 and L4, and moving the cleaning device in the corresponding direction by MIN1 distance;
the smaller of the values MIN2 is selected from L5 and L6, and the cleaning apparatus is moved a distance MIN2 in the corresponding direction.
4. The cleaning device for automatically planning a path according to claim 3, wherein generating a cleaning path according to the distance data and the starting point position comprises:
acquiring distance data at the starting position, L1 ", L2", L3 ", L4", L5 ", L6", respectively;
defining an end position as a diagonal position of the start position;
the cleaning path is an arcuate path from the start position until the end position is reached, and the cleaning path passes the end position at least twice.
5. The cleaning apparatus for automatically planning a path according to claim 1, further comprising a rotating mechanism electrically connected to the control mechanism, wherein:
the first negative pressure assembly and the second negative pressure assembly respectively comprise an inner layer cylinder, a middle layer cylinder and an outer layer cylinder; the outer layer cylinder is fixedly arranged in the outer shell, a stepping motor is fixedly arranged on the outer layer cylinder, and a gear is fixedly arranged at the output end of the stepping motor; the middle layer cylinder is in threaded connection with the outer layer cylinder; the inner layer cylinder is in threaded connection with the middle layer cylinder, the side face of the upper end of the inner layer cylinder is in meshed connection with the gear, and a centrifugal fan is installed in the inner layer cylinder;
the rotating mechanism is used for executing the operation control instruction to enable the cleaning device to rotate, the rotating mechanism is located between the first negative pressure assembly and the second negative pressure assembly, and two ends of a rotating shaft of the rotating mechanism are fixedly connected with the outer-layer barrel of the first negative pressure assembly and the outer-layer barrel of the second negative pressure assembly respectively.
6. The cleaning apparatus for automatically planning a path according to claim 5, wherein the driving mechanism comprises a driving motor, a decelerator, a first driving rod, a second driving rod, and a first traveling assembly and a second traveling assembly, wherein:
the driving motor is fixedly connected with an input shaft of the speed reducer, and two output ends of the speed reducer are in transmission connection with the first walking assembly and the second walking assembly through the first transmission rod and the second transmission rod respectively.
7. An automated path planning cleaning apparatus as claimed in claim 6, wherein said first and second travel assemblies each comprise a drive gear, a track, a web and a driven wheel;
the output end of the speed reducer is coaxially connected with the transmission gear;
the transmission gear is rotationally connected to the front side of the connecting plate, and the driven wheel is rotationally connected to the rear side of the connecting plate;
the crawler belt is sleeved outside the connecting plate, the transmission gear and the driven wheel, and limiting teeth meshed with the transmission gear and the driven wheel are arranged on the inner surface of the crawler belt.
8. An automated path planning cleaning apparatus as claimed in claim 5, wherein the cleaning mechanism comprises a fabric water-blocking cloth mounted on the left side of the bottom of the outer housing, and a high-density sponge mounted on the right side of the bottom of the outer housing.
9. The cleaning device for automatically planning a path according to claim 5, wherein at least one turbidity sensor is further installed at the bottom of the outer casing, and the turbidity sensor is electrically connected with the control mechanism;
the control mechanism acquires a turbidity detection value of the turbidity sensor and compares the turbidity detection value with a preset threshold value;
if the turbidity detection value is smaller than or equal to the preset threshold value, the control mechanism generates a continuous cleaning instruction;
and if the turbidity detection value is larger than the preset threshold value, the control mechanism generates a repeated cleaning instruction.
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