CN104207733A - Negative-pressure adsorption type corridor cleaning robot - Google Patents
Negative-pressure adsorption type corridor cleaning robot Download PDFInfo
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- CN104207733A CN104207733A CN201410378143.6A CN201410378143A CN104207733A CN 104207733 A CN104207733 A CN 104207733A CN 201410378143 A CN201410378143 A CN 201410378143A CN 104207733 A CN104207733 A CN 104207733A
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Abstract
The invention discloses a negative-pressure adsorption type corridor cleaning robot, aiming at overcoming the problems that an existing cleaning robot can not easily climb stairs, has low cleaning efficiency and poorer stability and can not finish corridor cleaning work very well. The invention provides the negative-pressure adsorption type corridor cleaning robot, aiming at efficiently and stably finishing cleaning work while the robot climbs the stairs and realizing the intelligent cleaning of environment complicated regions, such as corridors, by the robot. The negative-pressure adsorption type corridor cleaning robot at least comprises two base plates, a negative-pressure adsorption type wall climbing module which is arranged on one side of a first base plate and is used for adsorbing a wall surface to move, a cleaning module which is arranged on the lower end face of a second base plate and is composed of a dust collector and a rotary hairbrush, a negative-pressure device which is arranged on the upper end face of the second base plate and is connected with the negative-pressure adsorption type wall climbing module, and a control module which is responsible for the whole intelligent movement of the robot. The robot disclosed by the invention has the advantages of high intelligence, stability in wall climbing, high cleaning efficiency and the like.
Description
technical field:
The invention belongs to robot and automation field, particularly a kind of corridor sweeping robot that completes cleaning works in circumstance complication regions such as corridors.
background technology:
The realistic problems such as along with economic develop rapidly, modernization high-riser and high-rise residential building quantity increase suddenly, and labor supply deficiency, employed labor force's cost are huge, make the appearance of our active demands intelligence corridor sweeping robot.At present, there is a large amount of researchers to put in the middle of the developmental research of corridor sweeping robot both at home and abroad.
Shandong Technology Univ rectifys beautiful luxuriant and rich with fragrance, Hou Rongguo, Su Qiu equality people, delivers a kind of novel intelligent clean robot and control method one literary composition thereof in automated manufacturing, article numbering 1009-0134(2013) 12-0026-04.The Intelligent cleaning robot designing in literary composition is mainly by walking and the part such as climbing mechanism, automatic floor cleaning/dust exhaust apparatus, control system, intelligent identification module forms.This device is walking and the climbing mechanism with spoke chip wheels by increase, can realize the conversion of robot between level walking and stair climbing; Collect various rubbish, dust by the cleaning of automatic lifting dust exhaust apparatus, through electronic roller type mop, land clearing is clean; Its control system adopts single-chip microcomputer as core component, combines and have speech identifying function and infrared receiver function with intelligent control module, can complete hygiene work by control.This robot build is larger, and power consumption is large, sweeping efficiency is not high, controls loaded down with trivial details.
The Zhang Lei of Nantong University, Tang Wenxue, the people such as Zhang Le, have invented a kind of elevating and telescopic type corridor sweeping robot, application number: 201210116810.4, publication number: CN 102631172 A.This elevating and telescopic type corridor cleaning robot, adopts parallelogram lindage, realizes the lift telescopic conversion of four-bar mechanism by singlechip control chip control, and robot completes the building work of climbing, and completes cleaning by the clearing apparatus that is arranged on machine bottom simultaneously.This robot stabilization is poor, easily tumble and sweeping efficiency not high.
Harbin Institute of Technology has released stair clean robot and inspired by Principles of Gear Connection, utilizes involute type wheel to climb the method in building, and then has designed a kind of novel climbing machine, and has increased on this basis stair cleaning function.This robot clearing apparatus is too simple, exists cleaning function not remarkable, and cleaning mechanism designs irrational problem.
Designer's Elliot Koln of Ka Sabeila company of the U.S. has proposed a kind of novel concept corridor sweeping robot, this robot adopts cellular type wheel, there is good cross-country climbing ability, belly middle is provided with dust catcher, and can automatically regulate suction and road clearance, in addition, this robot can be converted into biological energy source by the bacterium of sweeping time cleaning, collect, for self provides circulating power.The proposition of this concept robot brightens everyone's eyes, but its exists and involve great expense, mechanism's complexity, the problem such as technology is immature.
summary of the invention:
In order to overcome, existing sweeping robot is climbed building difficulty and sweeping efficiency is not high, less stable, cannot finely complete the problem of corridor cleaning works, the invention provides a kind of negative-pressure adsorption-type corridor sweeping robot, object is efficient, the stable limit stair climbing limit cleaning works that completes, and well realizes robot in circumstance complication region intelligence cleanings such as corridors.
The technical solution adopted for the present invention to solve the technical problems:
A kind of negative-pressure adsorption-type corridor sweeping robot, at least comprise two substrates, be arranged at first substrate one side for wall adsorption and mobile negative pressure adsorption wall-climbing module, be arranged at cleaning module that second substrate lower surface be made up of with rotating brushes dust catcher, be arranged at second substrate upper surface and control module that the negative pressure device that is connected with negative pressure adsorption wall-climbing module and responsible robot overall intelligence operate.
Described two substrates are vertically fixed together mutually.
Described negative pressure adsorption wall-climbing module comprises seal suction disc, mobile device, airway, magnetic valve; Seal suction disc is adsorbed on first substrate surface, and mobile device comprises two mechanisms that direction of motion cross is orthogonal, and each mechanism is by motor, transmission component, rotating shaft, wheel composition.
Described motor adopts direct current generator, and motor cabinet is fixed on first substrate, and motor output shaft is connected with rotating shaft transmission through transmission component; Transmission component adopts gear & rack structure; The seal suction disc of described negative pressure adsorption wall-climbing module adopts modified ptfe (polytetrafluoroethylene (PTFE)) material to make.
Described cleaning module is made up of rotating brushes, dust catcher, rotating brushes drive motors, dust catcher drive motors and driving member thereof.
Described negative pressure device comprises sucker, vavuum pump, magnetic valve and airway; Magnetic valve one end is connected with vavuum pump by vent line, and the other end is connected with sucker by vent line.
Also comprise sensor information acquisition system, sensor information acquisition system comprises that infrared remote receiver, stair judge sensor, crash sensor and ultrasonic distance-measuring sensor; Wherein, infrared remote receiver is installed on below, second substrate bottom; Stair judge that installation of sensors is in second substrate left surface; Crash sensor arranges two, is installed on respectively second substrate leading flank and trailing flank; Ultrasonic distance-measuring sensor is installed on below, second substrate bottom.
Described control module adopts STM32 control chip (being also furnished with power module and status displays), and wherein the motor of mobile device, motor of dust collector, rotating brushes motor and vavuum pump drive motors are connected with the driving control port of control module respectively; Infrared remote receiver, stair judge that sensor, crash sensor and ultrasonic distance-measuring sensor are connected with the signals collecting end of control module respectively; Vavuum pump, vavuum pump drive motors and each magnetic valve are connected with the control port of control module respectively.
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beneficial effect of the present invention is as follows:
Than traditional wheeled corridor sweeping robot, elevating and telescopic type corridor sweeping robot or crawler type corridor sweeping robot, its project organization novelty, special Pa building mode-wall adsorption is climbed building mode and has perfectly been solved because stair exist the various climbing problems of bringing, multi-sucker negative pressure adsorption wall-climbing mechanism significantly promotes the locomotivity of robot and obstacle climbing ability, absorption is stable and control conveniently, and stair activity action is succinct.
Single-chip microcomputer coordinates sensor information acquisition system, driving control system, the integrated clearing apparatus of Based Intelligent Control second substrate lower surface and the running of unidirectional wheel make robot can be flexibly after arriving stair faces complete cleaning task and special integrated cleaning module also makes the sweeping efficiency of robot be greatly increased at this layer often having climbed up one deck stair, robot of the present invention high-intelligentization, climb that wall is stable, cleaning is efficient, low cost of manufacture, build is moderate, for ease of maintenaince, be applicable to volume production.
brief description of the drawings:
Tu1Shi robot of the present invention negative pressure adsorption wall-climbing structural scheme of mechanism.
Tu2Shi robot of the present invention various kinds of sensors is installed distribution schematic diagram.
Fig. 3 is robot control system architecture schematic diagram of the present invention.
Tu4Shi robot of the present invention general structure schematic diagram.
In figure: 1, sealing sucker; 2, airway; 3, the first magnetic valve; 4, the second magnetic valve; 5, the 3rd magnetic valve; 6, the 4th magnetic valve; 7, vavuum pump; 8, vavuum pump drive motors; 9, first substrate; 10, first substrate wheel 1; 11, first substrate is taken turns 1 drive motors; 12, first substrate wheel 2; 13, first substrate is taken turns 2 drive motors; 14, crash sensor 1; 15, infrared remote receiver; 16, ultrasonic distance-measuring sensor; 17, stair judge sensor; 18, crash sensor 2; 19, second substrate; 20, second substrate trailing wheel; 21, rear wheel drive motor; 22, the first rotating brushes; 23, the first rotating brushes drive motors; 24, dust catcher; 25, the second rotating brushes; 26, the second rotating brushes drive motors; 27, second substrate front-wheel; 28, front-wheel drive motor; 29, STM32.
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detailed description of the invention:
Below in conjunction with instantiation and accompanying drawing, the present invention will be further described.
embodiment mono-:
The present invention includes: two substrates, be arranged on first substrate for adsorbing wall and carrying out negative pressure adsorption wall-climbing module that wall moves, be arranged at cleaning module that second substrate lower surface is made up of dust catcher and rotating brushes, be arranged at second substrate upper surface, the control module of the negative pressure device being connected with sucker and the overall intelligence running of responsible robot.By STM32 as Master control chip, various kinds of sensors Collect jointly information feedback, coordinate to control this intelligent robot running, the wall climbing sports of having combined robot by negative pressure adsorption wall-climbing module, negative pressure device and sensor information acquisition module through STM32; Combined the efficient cleaning of stair face by cleaning module and sensor information acquisition module.
Described negative pressure adsorption wall-climbing module is made up of 4 suckers, mobile device, 4 magnetic valves and airway.Its sucker adopts negative pressure sucker, and the pressure bladder that sucker contacts with wall has slipper seal effect, in robot motion's process, plays the effect that maintains negative pressure in sucker, and while producing negative pressure in sucker, sucker is attached to wall.This mechanism has adopted four sealing suckers, is connected with vavuum pump by airway, the absorption of controlling sucker by opening or closing of magnetic valve with loosen, sucker flexibly negative-pressure adsorption makes robot have certain obstacle climbing ability with loosening.
Described clearing apparatus, is designed with dual rotary hairbrush, dust catcher integral structure, and second substrate lower surface front end is installed rotating brushes, and in the middle of substrate lower surface, below arranges dust catcher, continues to arrange rotating brushes at dust catcher rear; By the work of single-chip computer control system Based Intelligent Control dust catcher and rotating brushes with stop.
Described stair face motion module, is designed with direct current generator, one-way movement wheel and gear transmission part thereof.By the running of master control system control direct current generator, the motion by gear train assembly Based Intelligent Control pulley at stair face.
Described control system comprises control chip STM32, the driving control system of the composition such as this chip and each moving wheel drive motors and gear transmission part thereof, motor of dust collector, rotating brushes motor, vavuum pump drive motors; Judge with infrared remote receiver, stair the information acquisition system that sensor, crash sensor and ultrasonic distance-measuring sensor form; Vacuum control system with vavuum pump, vavuum pump drive motors, magnetic valve, airway composition.STM32 jointly controls subsystems, ensures the cleaning works that completes of negative-pressure adsorption-type corridor sweeping robot efficient stable.
The present invention has designed negative pressure adsorption wall-climbing mechanism, can make robot be adsorbed in wall motion with the work in combination of STM32, vacuum control system, sensor information acquisition system, driving control system; Design rotating brushes, the integrated clearing apparatus of dust catcher, with the work in combination of STM32, sensor information acquisition system, driving control system, made robot complete the reciprocating motion limit cleaning works of stair face limit; Design based on single-chip computer control system, adopt several functions sensor, realize robot autonomous reliable absorption wall motion, complete stair climbing, often climb up one deck, robot is in the upper walking of this layer, intelligent independent complete step cleaning works, whole process, whole-course automation, participates in without manpower.
embodiment bis-:
Fig. 1, negative pressure adsorption wall-climbing mechanism.One end of magnetic valve 3, magnetic valve 4, magnetic valve 5, magnetic valve 6 is connected with vavuum pump 7 by airway 2, the other end is connected with each sucker respectively by airway 2, wall climbing mechanism is pressed close to after wall surface, open vavuum pump drive motors 8 and open magnetic valve simultaneously, sealing sucker forms negative pressure, and robot is tightly adsorbed in wall surface; By control system Based Intelligent Control first substrate take turns 1 drive motors 11, first substrate is taken turns the start and stop of 2 drive motors 13, realize the motion of the upper and lower and left and right directions of robot and then complete and climb building.
Fig. 2, various kinds of sensors is installed and is distributed.Second substrate 19 bottom below installation infrared receiver 15 and ultrasonic distance-measuring sensors 16, the instruction that infrared remote receiver 15 sends for receiving manipulator, realizes robot motion's real-time control; Ultrasonic distance-measuring sensor 16 is for measuring in real time the distance of second substrate 19 and stair face, and Real-time Feedback responds control to Master control chip STM32 29 and carries out next step running; An each crash sensor 1 14, the crash sensor 2 18 settled of second substrate 19 leading flanks and trailing flank, if machine man-hour bumps and feeds back to immediately Master control chip STM32 29 with wall, the single-chip microcomputer control that makes an immediate response is carried out suitable running; Second substrate 19 left surfaces are provided with stair and judge sensor 17, can real-time judge robot whether near stair edge, feed back to control chip STM32 29, make corresponding response control.
Fig. 3, invention robot control system architecture, power module, Master control chip STM32 29 are connected with driving control system, information acquisition system, vacuum control system respectively; Driving control system is taken turns 1 drive motors 11, first substrate with vavuum pump drive motors 8, first substrate respectively by holding wire and is taken turns 2 drive motors 13, rear wheel drive motor 21, the first rotating brushes drive motors 23, dust catcher 24, the second rotating brushes drive motors 26, front-wheel drive motor 28 and be connected; Information acquisition system judges that by holding wire and infrared remote receiver 15, stair sensor 17, crash sensor 14,18, ultrasonic distance-measuring sensor 16 are connected; Vacuum control system is connected with vavuum pump 7, vavuum pump drive motors 8, magnetic valve 3, magnetic valve 4, magnetic valve 5, magnetic valve 6, airway 2 by holding wire.
The task that wall cleaning can be divided into following components is climbed by robot of the present invention:
Survey stair, decision-making and climb wall: Master control chip STM32 29 is connected with drive motors on negative-pressure adsorption wall climbing mechanism mobile device and vavuum pump drive motors 8 and each magnetic valve on negative pressure device respectively by holding wire, on robot second substrate, stair are installed and are judged sensor 17, crash sensor 14, crash sensor 18, judge the feedback information of sensor 17 according to stair, guarantee that robot is pasting the operation of stair forward position; According to the feedback information of crash sensor 18, whether real-time judge robot presses close to wall, if it is proceeds to and climbs wall processing; Otherwise, continue to move along stair forward position.
Below robot second substrate bottom, a ultrasonic distance-measuring sensor 16 is installed.Proceed to and climb wall when motion, coordinate the united information of other sensors, measure in real time the distance of the robot second substrate 19 that is adsorbed on wall and stair face and feed back to Master control chip STM32 29 and respond, control carries out next step running.If second substrate and stair identity distance be not when reaching a certain parameter of having set, proceed wall elevating movement; As distance approaches this parameter, coordinate stair to judge that sensor 17 combines feedback information, control carries out arriving at certain position after wall translational motion and stops; Control magnetic valve, vavuum pump 7, vavuum pump drive motors 8, remove the negative pressure effect of sucker, robot stops stably to stair face.
Robot steadily stops to upper level step surface, the running of the first rotating brushes drive motors 23 of Master control chip STM32 29 Based Intelligent Control cleanings modules, the second rotating brushes drive motors 26, dust catcher 24 with stop, coordinate sensor information acquisition system simultaneously, Based Intelligent Control machine people is at reciprocating cleaning works, the whole cleaning process efficient quick of completing of stair face simultaneously.
After cleaning, stop cleaning the running of module, Master control chip STM32 29 coordinates sensor information acquisition system, repeats to survey stair, decision-making and climbs wall running.Robot moves to wall surface place to be stopped; Master control chip STM32 29 coordinates vacuum control system and driving control system, and robot carries out negative-pressure adsorption and climbs wall motion, again complete and climb building, so repeatedly, just can be intelligent, efficient, stable complete corridor cleaning works.
Claims (8)
1. a negative-pressure adsorption-type corridor sweeping robot, is characterized in that: at least comprise two substrates, be arranged at first substrate one side for wall adsorption and mobile negative pressure adsorption wall-climbing module, be arranged at cleaning module that second substrate lower surface be made up of with rotating brushes dust catcher, be arranged at second substrate upper surface and control module that the negative pressure device that is connected with negative pressure adsorption wall-climbing module and responsible robot overall intelligence operate.
2. negative-pressure adsorption-type corridor sweeping robot according to claim 1, is characterized in that: described two substrates are vertically fixed together mutually.
3. negative-pressure adsorption-type corridor sweeping robot according to claim 1, is characterized in that: described negative pressure adsorption wall-climbing module comprises seal suction disc, mobile device, airway, magnetic valve; Seal suction disc is adsorbed on first substrate surface, and mobile device comprises two mechanisms that direction of motion cross is orthogonal, and each mechanism is by motor, transmission component, rotating shaft, wheel composition.
4. negative-pressure adsorption-type corridor sweeping robot according to claim 3, is characterized in that: described motor adopts direct current generator, and motor cabinet is fixed on first substrate, and motor output shaft is connected with rotating shaft transmission through transmission component; Transmission component adopts gear & rack structure; The seal suction disc of described negative pressure adsorption wall-climbing module adopts modified ptfe material to make.
5. negative-pressure adsorption-type corridor sweeping robot according to claim 1, is characterized in that: described cleaning module is made up of rotating brushes, dust catcher, rotating brushes drive motors, dust catcher drive motors and driving member thereof.
6. according to the arbitrary described negative-pressure adsorption-type corridor sweeping robot of claim 1-5, it is characterized in that: described negative pressure device comprises sucker, vavuum pump, magnetic valve and airway; Magnetic valve one end is connected with vavuum pump by vent line, and the other end is connected with sucker by vent line.
7. negative-pressure adsorption-type corridor sweeping robot according to claim 6, it is characterized in that: also comprise sensor information acquisition system, sensor information acquisition system comprises that infrared remote receiver, stair judge sensor, crash sensor and ultrasonic distance-measuring sensor; Wherein, infrared remote receiver is installed on below, second substrate bottom; Stair judge that installation of sensors is in second substrate left surface; Crash sensor arranges two, is installed on respectively second substrate leading flank and trailing flank; Ultrasonic distance-measuring sensor is installed on below, second substrate bottom.
8. negative-pressure adsorption-type corridor sweeping robot according to claim 7, it is characterized in that: described control module adopts STM32 control chip, and wherein the motor of mobile device, motor of dust collector, rotating brushes motor and vavuum pump drive motors are connected with the driving control port of control module respectively; Infrared remote receiver, stair judge that sensor, crash sensor and ultrasonic distance-measuring sensor are connected with the signals collecting end of control module respectively; Vavuum pump, vavuum pump drive motors and each magnetic valve are connected with the control port of control module respectively.
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| CN201410378143.6A CN104207733A (en) | 2014-08-04 | 2014-08-04 | Negative-pressure adsorption type corridor cleaning robot |
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| CN201410378143.6A CN104207733A (en) | 2014-08-04 | 2014-08-04 | Negative-pressure adsorption type corridor cleaning robot |
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Cited By (8)
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| CN106567354A (en) * | 2016-09-30 | 2017-04-19 | 安徽工程大学 | Automatic sweeping vehicle for stair steps |
| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN108042054A (en) * | 2017-12-11 | 2018-05-18 | 李霞林 | A kind of corridor is with step automatic cleaning machine people |
| CN109998434A (en) * | 2019-04-22 | 2019-07-12 | 绍兴文理学院 | A kind of clearing apparatus for underground parking garage entrance dentation slope |
| CN110477823A (en) * | 2019-07-05 | 2019-11-22 | 上海冀晟自动化成套设备有限公司 | Metope scavenging machine |
| CN111728541A (en) * | 2020-07-21 | 2020-10-02 | 桂林电子科技大学 | Full-automatic climbing type stair cleaning robot and using method thereof |
| CN113425195A (en) * | 2021-08-02 | 2021-09-24 | 谢顺 | Intelligent cleaning equipment for high-rise residential property service stairs |
| CN113729545A (en) * | 2017-12-26 | 2021-12-03 | 科沃斯机器人股份有限公司 | Robot control method, storage medium and robot |
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| CN109998434A (en) * | 2019-04-22 | 2019-07-12 | 绍兴文理学院 | A kind of clearing apparatus for underground parking garage entrance dentation slope |
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| CN111728541A (en) * | 2020-07-21 | 2020-10-02 | 桂林电子科技大学 | Full-automatic climbing type stair cleaning robot and using method thereof |
| CN111728541B (en) * | 2020-07-21 | 2023-07-25 | 桂林电子科技大学 | Full-automatic climbing type stair cleaning robot and application method thereof |
| CN113425195A (en) * | 2021-08-02 | 2021-09-24 | 谢顺 | Intelligent cleaning equipment for high-rise residential property service stairs |
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Application publication date: 20141217 |