CN109349964B

CN109349964B - Indoor floor cleaning method

Info

Publication number: CN109349964B
Application number: CN201810726325.6A
Authority: CN
Inventors: 夏巧巧
Original assignee: Sixian Branch of Anhui Phetom Intelligent Traffic Technology Co Ltd
Current assignee: Sixian Branch of Anhui Phetom Intelligent Traffic Technology Co Ltd
Priority date: 2018-07-04
Filing date: 2018-07-04
Publication date: 2021-04-02
Anticipated expiration: 2038-07-04
Also published as: CN109349964A

Abstract

The invention belongs to the technical field of indoor cleaning, and particularly relates to an indoor floor cleaning method.A sweeping robot adopted in the method comprises a box body, a supporting mechanism, a first push plate, a second push plate, a collision detection mechanism and a connecting mechanism; according to the invention, the air bag is arranged outside the equipment shell, so that the shell can be buffered and protected when the robot collides with a corner and furniture, and the shell is prevented from being damaged; when the air bag is extruded in a collision manner, the extrusion mechanism can move inwards and extrude the induction mechanism, so that the first metal sheet is in contact with the second metal sheet, induction information can be received by the robot control part, the robot is driven to avoid in time, and the extrusion mechanism is distributed annularly, so that collision points at various positions can be detected, and the detection range is improved; when the robot meets garbage with large volume, the two push plates can be driven to be combined and then pushed forward together, so that the garbage is pushed to two sides.

Description

Indoor floor cleaning method

Technical Field

The invention belongs to the technical field of indoor cleaning, and particularly relates to a method for cleaning an indoor floor.

Background

Because the indoor floor causes the dust and grease on the floor of the shoes to pollute the floor due to the long-time walking of the user, the inconvenience is brought to the living life of the user, and therefore, an indoor floor cleaning method is needed to solve the problem faced by the user;

the floor cleaning robot has the advantages that manual modes are adopted in traditional indoor cleaning, the modern living standard is improved, the intellectualization of household articles becomes the mainstream trend of the modern times, however, the floor cleaning robot is one of intelligent household appliances, and floor cleaning work can be automatically completed in a room by means of certain artificial intelligence; generally, brushing and vacuum modes are adopted, so that the impurities on the ground are absorbed into a garbage storage box of the garbage storage box, and the function of cleaning the ground is achieved; the existing intelligent sweeping robot can judge obstacles and steer when colliding with corners or furniture in the walking process, and the collision can cause damage to a shell of equipment for a long time, so that necessary protection measures are lacked, and the protection and collision detection cannot be well combined; when large garbage is encountered, the garbage cannot be well treated and can only be avoided; and meanwhile, oil stains on the indoor floor cannot be cleaned only by adopting the intelligent robot. In view of this, the present invention provides an indoor floor cleaning method, which has the following characteristics:

(1) according to the indoor floor cleaning method, the air bag is arranged outside the equipment shell in the sweeping robot, so that the shell can be buffered and protected when the robot collides with a corner and furniture, and the shell is prevented from being damaged.

(2) According to the indoor floor cleaning method, when the air bag is collided and extruded in the sweeping robot, the extruding mechanism can move inwards and extrude the sensing mechanism, so that the first metal sheet is in contact with the second metal sheet, sensing information can be received by the robot control part, the robot is driven to hide in time, the extruding mechanisms are distributed annularly, collision points of all positions can be detected, and the detection range is enlarged.

(3) According to the indoor floor cleaning method, in the sweeping robot adopted in the method, when the robot encounters large-size garbage, the two push plates can be driven to be combined and then pushed forward together to concentrate the garbage, and the two push plates can also be driven to rotate to the two sides respectively, so that the garbage is pushed to the two sides.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an indoor floor cleaning method, wherein an air bag is arranged outside an equipment shell, so that the shell can be buffered and protected when a robot collides with a corner and furniture, and the shell is prevented from being damaged; when the air bag is extruded in a collision manner, the extrusion mechanism can move inwards and extrude the induction mechanism, so that the first metal sheet is in contact with the second metal sheet, induction information can be received by the robot control part, the robot is driven to avoid in time, and the extrusion mechanism is distributed annularly, so that collision points at various positions can be detected, and the detection range is improved; when the robot meets the rubbish with a large size, the two push plates can be driven to be combined and then pushed forwards together to be concentrated, and the two push plates can also be driven to rotate to two sides respectively, so that the rubbish can be pushed towards the two sides.

The technical scheme adopted by the invention for solving the technical problems is as follows: a method of cleaning an indoor floor, the method comprising the steps of:

the method comprises the following steps: waxing the joint edge of the indoor floor and the wall;

step two: manually cleaning the indoor floor;

step three: cleaning dust on the floor processed in the step two by adopting a sweeping robot;

step four: dissolving the liquid detergent in clear water, mixing, and spraying the liquid detergent on indoor floor; then, the user cleans the floor by adopting a mop;

step five: after the fourth step is finished, spraying clear water on the indoor floor, and washing the floor;

step six: adopting a dry support to suck water on the indoor floor; opening a window for ventilation to air-dry the indoor floor;

the sweeping robot adopted by the method comprises a box body, a supporting mechanism, a first push plate, a second push plate, a collision detection mechanism and a connecting mechanism; the supporting mechanism is fixed on the side wall of the box body; the end part of the supporting mechanism is provided with the connecting mechanism; the connecting mechanism is fixedly connected with the first push plate and the second push plate and is used for driving the first push plate and the second push plate to rotate; the supporting mechanism is used for driving the connecting mechanism to rotate up and down; the outer wall of the box body is provided with the collision detection mechanism, and the collision detection mechanism is used for detecting collision positions.

Specifically, the top surface of box body is equipped with the fixing base, the fixing base the box body is circular.

Specifically, supporting mechanism includes swivel mount, first rotation motor and branch, the swivel mount is located the lateral wall of fixing base, the swivel mount rotates to be connected branch, the swivel mount rotates to be connected first rotation motor.

Specifically, coupling mechanism includes link, first rotary column, second rotation motor, drive gear and second rotary column, the cross-section of link is U type structure, the link with branch fixed connection, the inside middle part of link is equipped with drive gear, drive gear rotates and connects the second rotation motor, and drive gear's bilateral symmetry is installed first rotary column the second rotary column, the middle part of first rotary column is equipped with the ring gear perpendicularly, the outer wall of first rotary column is equipped with the fixed plate perpendicularly, the fixed plate symmetry is located the top and the bottom of ring gear, the ring gear meshing is connected drive gear, the second rotary column with first rotary column structure is the same.

Specifically, the first push plate and the second push plate are symmetrically arranged, the first rotating column is fixedly connected with the first push plate, and the second rotating column is fixedly connected with the second push plate.

Specifically, the top, the bottom of first rotary column all with the link rotates to be connected, first rotary column drive gear and the second rotary column all is located same water flat line department.

Specifically, collision detection mechanism includes gasbag, response mechanism and extrusion mechanism, the gasbag glue in the outer wall of box body, the inner wall of gasbag is annular array distribution and has the extrusion mechanism, response mechanism locates the outer wall middle part of box body, response mechanism locates the inside of gasbag.

Specifically, the extrusion mechanism includes spacing pipe, second spring, extrusion pole and bulb, spacing pipe is located the inner wall of gasbag, the inside of spacing pipe has cup jointed the extrusion pole, the tip of extrusion pole is equipped with the bulb, the extrusion pole with the junction of spacing pipe is equipped with the second spring.

Specifically, response mechanism includes first sheetmetal, second sheetmetal and first spring, the second sheetmetal is located the outer wall of box body, the second sheetmetal is the annular, the outer wall of second sheetmetal is fixed with the one end of first spring, first spring is the annular array and distributes, the outside interval of second sheetmetal is equipped with threely first sheetmetal, first sheetmetal is the third arc, the inner wall of first sheetmetal is opened there is the mounting groove, the inside of mounting groove is equipped with the other end of first spring.

The invention has the beneficial effects that:

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of an intelligent sweeping robot according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the strut connection shown in FIG. 1;

FIG. 3 is a schematic view of a connection structure between the connection mechanism shown in FIG. 2 and the first push plate and the second push plate;

FIG. 4 is a schematic structural view of the collision detection mechanism shown in FIG. 1;

FIG. 5 is a schematic view of the sensing mechanism shown in FIG. 4;

FIG. 6 is a schematic view of the pressing mechanism shown in FIG. 4;

fig. 7 is a schematic structural view of the pressing mechanism shown in fig. 5.

In the figure: 1. the box body, 11, the fixing base, 2, the supporting mechanism, 21, the swivel mount, 22, first rotation motor, 23, branch, 3, first push pedal, 4, the second push pedal, 5, collision detection mechanism, 51, the gasbag, 52, response mechanism, 521, first sheetmetal, 5211, the mounting groove, 522, the second sheetmetal, 523, first spring, 53, extrusion mechanism, 531, spacing pipe, 532, the second spring, 533, the extrusion pole, 534, the bulb, 6, coupling mechanism, 61, the link, 62, first rotary column, 621, the ring gear, 622, the fixed plate, 63, the second rotation motor, 64, drive gear, 65, the second rotary column, 7, the alarm, 8, the central controller.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 7, the method for cleaning indoor floor according to the present invention comprises the steps of:

step two: manually cleaning the indoor floor;

the sweeping robot adopted by the method comprises a box body 1, a supporting mechanism 2, a first push plate 3, a second push plate 4, a collision detection mechanism 5 and a connecting mechanism 6; the supporting mechanism 2 is fixed on the side wall of the box body 1; the end part of the supporting mechanism 2 is provided with the connecting mechanism 6; the connecting mechanism 6 is fixedly connected with the first push plate 3 and the second push plate 4, and the connecting mechanism 6 is used for driving the first push plate 3 and the second push plate 4 to rotate; the supporting mechanism 2 is used for driving the connecting mechanism 6 to rotate up and down; the outer wall of the box body 1 is provided with the collision detection mechanism 5, and the collision detection mechanism 5 is used for detecting collision positions.

Specifically, as shown in fig. 1, a fixing seat 11 is arranged on the top surface of the box body 1, and both the fixing seat 11 and the box body 1 are circular; in order to support the device.

Specifically, as shown in fig. 1, the supporting mechanism 2 includes a rotating base 21, a first rotating motor 22 and a supporting rod 23, the rotating base 21 is disposed on a side wall of the fixing base 11, the rotating base 21 is rotatably connected to the supporting rod 23, and the rotating base 21 is rotatably connected to the first rotating motor 22; in order to be turned over when in use and lifted up when not in use.

Specifically, as shown in fig. 2 and 3, the connecting mechanism 6 includes a connecting frame 61, a first rotating column 62, a second rotating motor 63, a driving gear 64 and a second rotating column 65, the cross section of the connecting frame 61 is a U-shaped structure, the connecting frame 61 is fixedly connected to the supporting rod 23, the driving gear 64 is disposed in the middle of the inside of the connecting frame 61, the driving gear 64 is rotatably connected to the second rotating motor 63, the first rotating column 62 and the second rotating column 65 are symmetrically mounted on two sides of the driving gear 64, a toothed ring 621 is vertically disposed in the middle of the first rotating column 62, a fixing plate 622 is vertically disposed on the outer wall of the first rotating column 62, the fixing plate 622 is symmetrically disposed on the top and the bottom of the toothed ring 621, the toothed ring 621 is engaged with the driving gear 64, and the second rotating column 65 has the same structure as the first rotating column 62; in order to realize the control of the push plate, the garbage can be pushed in multiple directions.

Specifically, as shown in fig. 1, the first push plate 3 and the second push plate 4 are symmetrically arranged, the first rotating column 62 is fixedly connected to the first push plate 3, and the second rotating column 65 is fixedly connected to the second push plate 4; to effect rotation.

Specifically, as shown in fig. 3, the top end and the bottom end of the first rotary column 62 are rotatably connected to the connecting frame 61, and the first rotary column 62, the driving gear 64 and the second rotary column 65 are all located at the same horizontal line; to achieve stable driving.

Specifically, as shown in fig. 4, the collision detection mechanism 5 includes an air bag 51, a sensing mechanism 52 and an extrusion mechanism 53, the air bag 51 is glued on the outer wall of the box body 1, the extrusion mechanism 53 is distributed on the inner wall of the air bag 51 in an annular array, the sensing mechanism 52 is arranged in the middle of the outer wall of the box body 51, and the sensing mechanism 52 is arranged inside the air bag 51; in order to detect the impact position.

Specifically, as shown in fig. 5, the squeezing mechanism 53 includes a limiting tube 531, a second spring 532, a squeezing rod 533 and a ball 534, the limiting tube 531 is disposed on the inner wall of the airbag 51, the squeezing rod 533 is sleeved inside the limiting tube 531, the ball 534 is disposed at an end of the squeezing rod 533, and the second spring 532 is disposed at a connection position between the squeezing rod 533 and the limiting tube 531; and controlling to realize buffering.

Specifically, as shown in fig. 6, the sensing mechanism 52 includes a first metal sheet 521, a second metal sheet 522 and a first spring 523, the second metal sheet 522 is disposed on an outer wall of the box body 1, the second metal sheet 522 is annular, one end of the first spring 523 is fixed to the outer wall of the second metal sheet 522, the first springs 523 are distributed in an annular array, three first metal sheets 521 are disposed outside the second metal sheet 522 at intervals, the first metal sheets 521 are all one-third arc-shaped, an installation groove 5211 is formed in an inner wall of each first metal sheet 521, and the other end of the first spring 523 is disposed inside the installation groove 5211; in order to detect the current.

The air bag 51 is arranged outside the equipment shell, so that the shell can be protected in a buffering way when the robot collides with a corner and furniture, and the shell is prevented from being damaged; when the air bag 51 is extruded in a collision manner, the extrusion mechanism 53 can move inwards and extrude the induction mechanism 52, so that the first metal sheet 521 is in contact with the second metal sheet 523, induction information can be received by the robot control part, the robot is driven to avoid in time, and the extrusion mechanism 53 is annularly distributed, so that collision points at various positions can be detected, and the detection range is improved; when the robot meets the rubbish with a large size, the two push plates can be driven to be combined and then pushed forwards together to be concentrated, and the two push plates can also be driven to rotate to two sides respectively, so that the rubbish can be pushed towards the two sides. The method specifically comprises the following steps:

(1) when cleaning operation is carried out, the box body 1 walks along the ground, and when a robot collides with a corner when the corner collides with furniture, the air bag 51 is in contact with and collides with the corner, so that a buffering effect is achieved, and the box body 1 is prevented from being damaged;

(2) when the air bag 51 is extruded, the outer wall of the air bag 51 is inwards concave, so that the extrusion mechanism 53 at the concave part is driven to integrally move inwards, after the extrusion mechanism 53 moves inwards for a certain distance, the ball head 534 extrudes the first metal sheet 521 and the first spring 523 to shrink, the first metal sheet 521 is contacted with the second metal sheet 523, the second metal sheet 523 is electrified, the alarm 7 is electrified, the controller 8 judges that the part is impacted, then the box body 1 is driven to turn, and when the impact is severe, the extrusion rod 533 extrudes the second spring 532, so that the buffer effect is further achieved, and the flexible buffer is realized;

(3) when large garbage needs to be pushed, the first rotating motor 22 is started to drive the rotating seat 21 to rotate, and further the supporting rod 23 and the two push plates are driven to move downwards simultaneously, so that the garbage can be pushed forwards by the two push plates in the advancing process, and the garbage can be gathered; the second rotary motor 63 can be started to drive the driving gear 64 to rotate, and then under the action of the meshing force of the driving gear 64 and the gear ring 621, the first rotary column 62 and the second rotary column 65 synchronously rotate in the opposite direction, so that the two push plates rotate towards two sides, and when the equipment moves horizontally towards two sides, the garbage is pushed towards two sides.

According to the invention, the air bag 51 is arranged outside the equipment shell, so that the shell can be buffered and protected when the robot collides with a corner and furniture, and the shell is prevented from being damaged; when the air bag 51 is extruded in a collision manner, the extrusion mechanism 53 can move inwards and extrude the induction mechanism 52, so that the first metal sheet 521 is in contact with the second metal sheet 523, induction information can be received by the robot control part, the robot is driven to avoid in time, and the extrusion mechanism 53 is annularly distributed, so that collision points at various positions can be detected, and the detection range is improved; when the robot meets the rubbish with a large size, the two push plates can be driven to be combined and then pushed forwards together to be concentrated, and the two push plates can also be driven to rotate to two sides respectively, so that the rubbish can be pushed towards the two sides.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An indoor floor cleaning method is characterized in that: the method comprises the following steps:

step two: manually cleaning the indoor floor;

the sweeping robot adopted by the method comprises a box body (1), a supporting mechanism (2), a first push plate (3), a second push plate (4), a collision detection mechanism (5) and a connecting mechanism (6); the supporting mechanism (2) is fixed on the side wall of the box body (1); the end part of the supporting mechanism (2) is provided with the connecting mechanism (6); the connecting mechanism (6) is fixedly connected with the first push plate (3) and the second push plate (4), and the connecting mechanism (6) is used for driving the first push plate (3) and the second push plate (4) to rotate; the supporting mechanism (2) is used for driving the connecting mechanism (6) to rotate up and down; the outer wall of the box body (1) is provided with the collision detection mechanism (5), and the collision detection mechanism (5) is used for detecting the collision position;

the top surface of the box body (1) is provided with a fixed seat (11), and the fixed seat (11) and the box body (1) are both circular;

the supporting mechanism (2) comprises a rotating seat (21), a first rotating motor (22) and a supporting rod (23), the rotating seat (21) is arranged on the side wall of the fixed seat (11), the rotating seat (21) is rotatably connected with the supporting rod (23), and the rotating seat (21) is rotatably connected with the first rotating motor (22);

the connecting mechanism (6) comprises a connecting frame (61), a first rotating column (62), a second rotating motor (63), a driving gear (64) and a second rotating column (65), the connecting frame (61) is fixedly connected with the supporting rod (23), the cross section of the connecting frame (61) is of a U-shaped structure, the driving gear (64) is arranged in the middle of the inside of the connecting frame (61), the driving gear (64) is rotatably connected with the second rotating motor (63), the first rotating column (62) and the second rotating column (65) are symmetrically arranged on two sides of the driving gear (64), a gear ring (621) is vertically arranged in the middle of the first rotating column (62), a fixing plate (622) is vertically arranged on the outer wall of the first rotating column (62), the fixing plate (622) is symmetrically arranged at the top and the bottom of the gear ring (621), and the gear ring (621) is meshed with the driving gear (64), the second rotary column (65) is identical in structure with the first rotary column (62);

the first push plate (3) and the second push plate (4) are symmetrically arranged, the first rotating column (62) is fixedly connected with the first push plate (3), and the second rotating column (65) is fixedly connected with the second push plate (4);

the top end and the bottom end of the first rotary column (62) are rotatably connected with the connecting frame (61), and the first rotary column (62), the driving gear (64) and the second rotary column (65) are all located at the same horizontal line;

the collision detection mechanism (5) comprises an air bag (51), a sensing mechanism (52) and an extrusion mechanism (53), the air bag (51) is glued on the outer wall of the box body (1), the extrusion mechanism (53) is distributed on the inner wall of the air bag (51) in an annular array, the sensing mechanism (52) is arranged in the middle of the outer wall of the box body (1), and the sensing mechanism (52) is arranged inside the air bag (51);

the extrusion mechanism (53) comprises a limiting pipe (531), a second spring (532), an extrusion rod (533) and a ball head (534), the limiting pipe (531) is arranged on the inner wall of the air bag (51), the extrusion rod (533) is sleeved inside the limiting pipe (531), the ball head (534) is arranged at the end part of the extrusion rod (533), and the second spring (532) is arranged at the connection part of the extrusion rod (533) and the limiting pipe (531);

the induction mechanism (52) comprises a first metal sheet (521), a second metal sheet (522) and a first spring (523), wherein the second metal sheet (522) is arranged on the outer wall of the box body (1), the second metal sheet (522) is annular, one end of the first spring (523) is fixed on the outer wall of the second metal sheet (522), the first springs (523) are distributed in an annular array, three first metal sheets (521) are arranged outside the second metal sheet (522) at intervals, the first metal sheets (521) are all in one-third arc shapes, an installation groove (5211) is formed in the inner wall of the first metal sheet (521), and the other end of the first spring (523) is arranged inside the installation groove (5211);

when cleaning operation is carried out, the box body (1) moves along the ground, and when a robot collides with a corner when the corner collides with furniture, the air bag (51) collides with the corner in a contact manner, so that a buffering effect is achieved, and the box body (1) is prevented from being damaged;

when the air bag (51) is extruded, the outer wall of the air bag (51) is inwards concave, so that the extruding mechanism (53) at the concave part is driven to integrally move inwards, after the extruding mechanism (53) moves inwards for a certain distance, the ball head (534) extrudes the first metal sheet (521) and the first spring (523) to shrink, the first metal sheet (521) is contacted with the second metal sheet (522), the second metal sheet (522) is electrified, the alarm (7) is electrified, the controller (8) judges that the part is impacted, then the box body (1) is driven to turn, and when the impact is severe, the extruding rod (533) extrudes the second spring (532), so that the buffering effect is further achieved, and the flexible buffering is realized;

when large garbage needs to be pushed, the first rotating motor (22) is started to drive the rotating seat (21) to rotate, and then the supporting rod (23) and the two push plates are driven to move downwards simultaneously, so that the garbage can be pushed forwards by the two push plates in the advancing process, and the garbage can be gathered; can start second rotation motor (63) and drive gear (64) and rotate, and then under drive gear (64), ring gear (621) meshing force effect, first rotary column (62), the synchronous antiport of second rotary column (65) to make two push pedals rotate to both sides, when equipment is again to both sides horizontal migration, thereby pass rubbish to both sides.