CN106618401A - Cleaning robot for bathroom - Google Patents

Cleaning robot for bathroom Download PDF

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Publication number
CN106618401A
CN106618401A CN201610907002.8A CN201610907002A CN106618401A CN 106618401 A CN106618401 A CN 106618401A CN 201610907002 A CN201610907002 A CN 201610907002A CN 106618401 A CN106618401 A CN 106618401A
Authority
CN
China
Prior art keywords
cleaning
hand
pump
control unit
main
Prior art date
Application number
CN201610907002.8A
Other languages
Chinese (zh)
Inventor
左晓华
Original Assignee
杭州元永贞智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州元永贞智能科技有限公司 filed Critical 杭州元永贞智能科技有限公司
Priority to CN201610907002.8A priority Critical patent/CN106618401A/en
Publication of CN106618401A publication Critical patent/CN106618401A/en

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/282Floor-scrubbing machines, motor-driven having rotary tools
    • A47L11/283Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036Parts or details of the surface treating tools
    • A47L11/4038Disk shaped surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408Means for supplying cleaning or surface treating agents
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Abstract

The invention discloses a cleaning robot for a bathroom. The robot comprises a body, a control unit and a walking mechanism. The body is further provided with a cleaning mechanism. The cleaning mechanism comprises a detergent box, a O3 water tank, an air blower and a cleaning mechanical arm, wherein a first pump is installed in the detergent box, and an outlet of the first pump is connected with a detergent pipe; a second pump is installed in the O3 water tank, and an outlet of the second pump is connected with a O3 water pipe; an air outlet of the air blower is connected with an air outlet pipe; the cleaning mechanical arm comprises a hand part and a hand part driving part used for driving the hand part to act, and a detergent pipe outlet, a O3 water pipe outlet and an air outlet pipe outlet are formed in the hand part. The control unit is used for controlling the first pump, the second pump, the air blower and the hand part driving part to work according to preset programs. Detergent can be used for decontamination, and O3 water has antibacterial and deodorizing functions, so that stains, peculiar smell and bacteria in the bathroom can be cleaned away, and the bathroom is kept hygienic.

Description

Toilet clean robot
Technical field
The present invention relates to a kind of clean robot, especially a kind of toilet clean robot.
Background technology
With the lifting of living standard, the clean robot of the foreign substance except such as dust can be aspirated from ground vacuum Outward, being developed recently can wipe the clean robot on ground.And the use of clean robot obtains more and more families Front yard and the accreditation of enterprise, rationally using clean robot, not only can reduce cost of labor, and can increase substantially wiper ring The sanitation degree in border.
Chinese patent application publication No. is CN104918529, and patent name is to disclose a kind of energy in " clean robot " The clean robot of cleaning efficiency is moved and improved in different directions.Chinese patent application publication No. is CN105764397, specially A kind of raising dust suction efficiency is disclosed in sharp entitled " robot cleaner ", and is difficult the robot cleaner being disturbed Device.But, so these disclosed robots are just for the single environment such as family or Factory Building, the influence factor in single environment It is less, and required function is simpler, is difficult to be disturbed by other factors.Particularly, these robots lack to abnormal flavour and antibacterial Removing function, it is impossible to adapt to environment of toilet, do not reach the cleaning effect needed for toilet.
O3(ozone is also called super oxygen), is oxygen (O2) allotrope, at normal temperatures, it is that one kind has off-odor Light blue gas.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides one kind can be cleaned to abnormal flavour in toilet and antibacterial Toilet clean robot.
The technical solution adopted for the present invention to solve the technical problems is:A kind of toilet clean robot, including main body And control unit, bottom part body is provided with the walking mechanism for being controlled by control unit, at the main body cleaning mechanism is also equipped with, The cleaning mechanism is included:
Cleaning agent case, in the cleaning agent case the first pump is provided with, and first pump discharge is connected with cleaning agent pipe;
O3Water tank, the O3Second pump is installed, second pump discharge is connected with O in water tank3Water pipe;
Hair-dryer, the hair-dryer air outlet is connected to discharge pipe;
Cleaning machine arm, the cleaning machine arm includes the hand and the hand for hand motion being installed at main body Drive division, the cleaning agent pipe outlet, O3Pipe outlet and discharge pipe outlet are mounted at hand;
Described control unit is used to control the first pump, the second pump, blower fan and hand drive division respectively according to the program of setting Work.
The invention has the beneficial effects as follows:Cleaning agent is loaded with cleaning agent case, can be with water preparation or foam;O3Contain in water tank Equipped with being dissolved with O3Water.The programs such as route and workflow can be pre-entered, so in control unit according to working environment Controlled the work of walking mechanism, the first pump, the second pump, hair-dryer and hand drive division by control unit afterwards.First pump can be from clear Cleaning agent box extracts cleaning agent and is sprayed on cleaning position, is then dried up the cleaning agent for cleaning position by hair-dryer;Second pump energy From O3O is extracted in water tank3Water is simultaneously sprayed on corresponding cleaning position, and can equally pass through hair-dryer will clean the O at position3Water is dried up.Cleaning Agent energy decontamination, and O3Water can play degerming and deodorization function, so as to carry out clearly to spot, abnormal flavour and antibacterial in toilet It is clean, keep the health of toilet.Due to the setting of cleaning arm, therefore effective cleaning work can be carried out particular for urinating bucket. O3O is installed in water tank3Generator, accomplishes O3The existing system of water, now take, now use, playing its maximum efficiency.Wherein, hand drive division Belong to the drive part in mechanical arm, control the pendulum angle and swing position of hand, and mechanical arm already belong to it is more ripe Technology, can buy on the market ready-made mechanical arm, will not be described here.
In order to simplify cleaning machine arm, reduces cost, but do not affect to be provided with using effect, therefore main body for supplying hand The guide rail mechanism slided in main body, hand is installed at guide rail mechanism;Hand drive division is motor, and the motor is defeated Screw mandrel is coaxially fixed with shaft, the nut being engaged is arranged with the screw mandrel, the nut is fixed with hand.Hand passes through guide rail Mechanism slides in main body, and wherein guide rail mechanism is more ripe, will not be described here.Motor can be servomotor or step Stepper motor, servomotor or motor are controlled by control unit, and can carry out more accurate Spin Control.Driving electricity Screw mandrel is coaxially fixed with the output shaft of machine, the nut being engaged is arranged with the screw mandrel, the nut is fixed with hand.By silk Bar and nut are controlling hand along runner movement, and each tube outlet for being installed on hand can change angles and positions, so as to full The specific requirement for cleaning of foot.
Cleaning mechanism also includes floor cleaning module, and the floor cleaning module is included:The dust suction being installed at main body Device, the suction port of the vacuum cleaner is located at bottom part body and arranges downward;The cleaning motor being installed in main body, the cleaning The output shaft of motor is arranged straight down;It is fixed on the sponge brush of output shaft end;Hair-dryer air outlet is connected to blows ground air-out Pipe, this blows ground discharge pipe outlet and is located at bottom part body and arranges downward;The vacuum cleaner and rotary electric machine are controlled by control Unit.Ground is cleaned by vacuum cleaner, sponge brush, then ground is dried up by hair-dryer, clean motor output shaft Rotate and drive sponge brush ceaselessly to scrub ground, so as to keeping accomodation ground clean and being dried.Whole cleaning process, realizes Triple clean technologies, by inhaling, brushing, blow cleaning purpose is reached, thoroughly and efficient to the cleaning on ground.
In some extreme terrains, in order to avoid the interference of sponge brush, therefore cleaning mechanism is also included for driving cleaning motor The lifting unit of lifting, the lifting unit is controlled by control unit.Certainly, lifting unit can also be using screw body or tooth Wheel rackwork or any structure that can realize elevating function.
Need to be cleaned after sponge brush suctions moisture, then cleaning mechanism also includes enclosing, and the enclosing is around sponge brush It is circumferentially disposed and surround closed-loop.Motor is cleaned by high-speed rotation, then under the action of the centrifugal force, the moisture in sponge brush is just Around being thrown to, so as to realize drying.
Toilet clean robot also include the rechargeable battery that is installed at main body and with rechargeable battery charging port phase Connection by electric module, should be wireless charging receiving coil or by electric contact point by electric module;The rechargeable battery is by circuit point It is not connected with the first pump, the second pump, blower fan and hand driver, and the control for being controlled by control unit is respectively equipped with each circuit System switch.The wireless charging of rechargeable battery is realized by wireless charging receiving coil, therefore, it is capable of achieving the sealing of rechargeable battery Arrange, in moist toilet protection is played, it is to avoid the rough sledding such as electric leakage, the corrosion of rechargeable battery occur.Rechargeable battery is adopted With wireless charging mode or contact formula charging modes.
Toilet clean robot also includes door-opening mechanism, the door-opening mechanism include be installed at main body push rod, And for driving the top rod driving portion of push rod axially reciprocating.
Toilet clean robot also includes human body sensor, the human body sensor be used for sense human infrared signal, And corresponding infrared digital signal is produced, described control unit is used for reception and judges the infrared digital signal and produce corresponding Control signal.When human body sensor senses personnel, feedback signal will be passed to control unit, and control unit will Control signal is produced, order walking mechanism detours or temporarily cease cleaning, it is to avoid the interference to toilet user.
For the height of liquid level in each casing of real-time judge, then cleaning agent case, O3It is separately installed with water tank and water storage box Liquid level sensor, the liquid level sensor is used to sense in the casing of place liquid level signal and produce corresponding liquid level induced signal, controls Unit processed passes through connection with liquid level sensor.
Toilet clean robot is also included:The laser scanning probe being installed at main body;Connect with laser scanning probe The detection module for connecing, the detection module is simulated drawing by laser scanning scanning probe environment and to environment;Trajectory planning Module, draws and plans rational trajectory signal for receiving the simulation for carrying out self-detection module;Described control unit receive from The trajectory signal of trajectory planning module, and the work of walking mechanism is controlled according to trajectory signal.Control unit, detection module, rail Mark planning module, laser scanning probe, using the cooperation between each module and laser scanning probe, were visited before this using laser scanning Surrounding is scanned and is sent to detection module by head, the information for detecting is sent to trajectory planning mould by detection module Block,
Cleaning agent case and O3Feed inlet is equipped with water tank, is provided with the feed inlet for feed inlet keying and controlled In the keying unit of control unit.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
Fig. 2 is the circuit block diagram of embodiment of the present invention control.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described:
As shown in Figure 1, 2, the present embodiment includes main body 21 (i.e. housing or support) and control unit 1, and bottom part body is installed There is the walking mechanism 22 for being controlled by control unit 1.Cleaning mechanism 3 is also equipped with inside main body 21, cleaning mechanism 3 includes installation Cleaning agent case 31, O in main body 223Water tank 32 and hair-dryer 33, are provided with the first pump 311 in the cleaning agent case 31, and this The outlet of one pump 311 is connected with cleaning agent pipe 312;In O3Second pump 321 is installed, the outlet of the second pump 321 is connected with O in water tank 323 Water pipe 322;The air outlet of hair-dryer 33 is connected to discharge pipe 331.Due to O3Easily separate out from aqueous solution and decompose, so in O3 O is installed in water tank 323Generator (not shown).Cleaning machine arm 34 is also equipped with main body 21, the cleaning machine arm 34 Including hand 341 and the hand drive division 342 for hand motion, cleaning agent pipe 312 is exported, O3Water pipe 322 is exported and air-out The outlet of pipe 331 is mounted at hand 341.Control unit 1 according to program set in advance be used for control respectively the first pump 311, The work of the second pump 321, hair-dryer 33 and hand drive division 342.Cleaning agent case 31 and O3Feed inlet is equipped with water tank 32 (not Draw), the keying unit of control unit 1 is provided with for feed inlet keying and is controlled by the feed inlet.The keying unit can Think control valve, or the capping being articulated with feed inlet and the drive division rotated around jointed shaft for driving capping, herein Drive division can adopt any driving equipment that can be rotated around jointed shaft with capping, will not be described here.Control unit 1 is adopted Single-chip microcomputer or microcomputer or CPU etc., control unit 1 is 8 High Performance SCM NEC 78K0/Kx1 of Japan NEC in the present embodiment + series.
Chute 211 is provided with the outer wall of main body 21, hand 341 is installed in chute 211;Hand drive division 342 is servo Motor, is coaxially fixed with screw mandrel at the servo motor output shaft, the nut being engaged is arranged with the screw mandrel, the nut and hand It is fixed.Control hand 341 by screw mandrel and nut to move along chute 211, and each tube outlet for being installed on hand 341 can change Varied angle and position, so as to meet specific requirement for cleaning.Wherein, hand drive division 342 belongs to the drive part in mechanical arm, Control with the pendulum angle and swing position of hand 341, and mechanical arm already belongs to more ripe technology, on the market can Ready-made mechanical arm is bought.Therefore, in addition to the cleaning machine arm referred in the present embodiment, will not be described here.In addition, walking Mechanism falls within routine techniquess, has been used widely in this area, will not be described here.
In the present embodiment, vacuum cleaner 41 and cleaning motor 42, the dust suction of the vacuum cleaner 41 are also equipped with inside main body 21 Mouth is located at the bottom of main body 21 and arranges downward;The output shaft of the cleaning motor 42 is arranged straight down, in output shaft end It is fixed with sponge brush 43;The air outlet of hair-dryer 33 is connected to blows ground discharge pipe 332, and this blows the ground outlet of discharge pipe 332 and is located at main body 21 bottoms and arrange downward.Wherein, vacuum cleaner 41 and rotary electric machine 42 are controlled by control unit 1.
Cleaning motor 42 is rotated with sponge brush 43, both can play a part of to clean ground, it is also possible to produce centrifugal force Dry sponge brush.Need to be cleaned after sponge brush 43 suctions moisture, then cleaning mechanism 3 also includes enclosing 44, the enclosing 44 It is circumferentially disposed around sponge brush 43 and surround closed-loop, the enclosing 44 around sponge brush 43, to stop centrifugal process in throw away Liquid.In some extreme terrains, in order to avoid the interference of sponge brush 43, therefore cleaning mechanism 3 is also included for driving cleaning motor The lifting units 45 of 42 liftings, the lifting unit 45 is hydraulic cylinder, and the hydraulic cylinder is axially vertically disposed, and the end of hydraulic stem with Cleaning motor is fixed, and wherein hydraulic cylinder is controlled by control unit 1 by control circuit.In the present embodiment, lifting unit 45 may be used also So that using with the akin screw body of cleaning machine arm or gear-box group etc., lifting unit belongs to routine techniquess, in ability Domain has been used widely, and be will not be described here.
The present embodiment also includes the rechargeable battery 51 that is installed at main body 21 and is connected with the charging port of rechargeable battery 51 Connect by electric module 52, should be wireless charging receiving coil by electric module 52;Rechargeable battery 51 by circuit respectively with the first pump 311st, the second pump 321, hair-dryer 33 are connected with hand driver 342, and are respectively equipped with each circuit and are controlled by control unit 1 Controlling switch.Certainly, rechargeable battery 51 also provides work energy for walking mechanism 22.Can also be using difference by electric module 52 By electric contact point, searching and the positioning of charge position are realized by control unit 1;Then, powered by electric contact point 52 and outside Contact contacts, and realizes the charging of rechargeable battery.
Squatting position in communal bathroom is designed with door, in order to open door, then door-opening mechanism 6 is also included in the present embodiment, The door-opening mechanism 6 includes the push rod 61 that is installed at main body 21 and for driving the push rod of the axially reciprocating of push rod 61 to drive Dynamic portion 62.The top rod driving portion 62 is hydraulic cylinder mechanism or screw body or the motor mechanism with gear-box etc., akin Mechanism belongs to routine techniquess in this area, and has been used widely in this area, will not be described here.Except the present embodiment is carried And door-opening mechanism 6 outside, door-opening mechanism 6 can also adopt the enabling hand with electric magnet, electric magnet is controlled by electromagnetic valve Power on/off, so as to realize open the door when strength supply.Or, by swing-bar mechanism (not shown), the swing-bar mechanism is included The fork being hinged with main body 21 and the fork drive division for driving fork swing.
The present embodiment also includes human body sensor 7, and the human body sensor 7 is used to sense outside infrared signal and convert For infrared digital signal, and control unit 1 is used to receive and judges the infrared digital signal and produce corresponding control signal, this Control signal can order walking mechanism 22 detour or temporarily cease cleaning, it is to avoid the people in toilet is interfered, band Carry out unnecessary trouble and embarrassment.
The present embodiment also includes laser scanning probe 81, detection module 82 and trajectory planning module 83.Detection module 82 It is connected with laser scanning probe 81, the detection module 82 is painted by laser scanning 81 scanning circumstances of probe and to environment simulation Figure;Trajectory planning module 83 is used to receiving the simulation for carrying out self-detection module 82 draws and plans rational trajectory signal;Control is single Unit 1 receives the trajectory signal from trajectory planning module 83, and controls the work of walking mechanism 22 according to trajectory signal.In main body Interior being provided with is crossed the positional information for checking that the scanning of module 82 obtains externally fed module (not shown) by electric module 52;And control Unit 1 is used for the positional information received from supply module and the work for controlling walking mechanism 22 so that taken to by electric module 52 The position corresponding with supply module, realizes charging action.Cleaning agent case 31, O3It is separately installed with water tank 32 and water storage box 33 Liquid level sensor, the liquid level sensor is used to sense in the casing of place liquid level signal and produce corresponding liquid level induced signal, controls Unit processed 1 passes through connection with liquid level sensor.
In the present invention, cleaning agent is loaded with cleaning agent case 31, can be with water preparation or foam;O3It is loaded with water tank 32 molten Solution has O3Water.The programs such as route and workflow, Ran Houyou can be pre-entered in control unit 1 according to working environment The work of the control walking mechanism 22 of control unit 1, the first pump 311, the second pump 321, hair-dryer 33 and hand drive division 342.The One pump 311 can extract cleaning agent and be sprayed on cleaning position from cleaning agent case 31, then will clean the clear of position by hair-dryer 33 Clean dose dries up;Second pump 321 can be from O3O is extracted in water tank 323Water is simultaneously sprayed on corresponding cleaning position, can equally pass through hair-dryer 33 By the O at cleaning position3Water is dried up.Cleaning agent energy decontamination, and O3Water can play degerming and deodorization function, so as to toilet Middle spot, abnormal flavour and antibacterial are cleaned, and keep the health of toilet.Due to the setting of cleaning arm, therefore can be particular for little Just bucket carries out effective cleaning work.Wherein, hand drive division 342 belongs to the drive part in mechanical arm, controls hand 341 Pendulum angle and swing position, and mechanical arm already belongs to more ripe technology, ready-made mechanical arm can have been bought on the market, Will not be described here.

Claims (10)

1. a kind of toilet clean robot, including main body and control unit, bottom part body is provided with and is controlled by control unit Walking mechanism, is characterized in that, at the main body cleaning mechanism is also equipped with, and the cleaning mechanism is included:
Cleaning agent case, in the cleaning agent case the first pump is provided with, and first pump discharge is connected with cleaning agent pipe;
O3Water tank, the O3Second pump is installed, second pump discharge is connected with O in water tank3Water pipe;
O3Generator, the O3The O of generator3Generation mouth and O3It is connected inside water tank;
Hair-dryer, the hair-dryer air outlet is connected to discharge pipe;
Cleaning machine arm, the cleaning machine arm includes the hand and the hand driving for hand motion being installed at main body Portion, the cleaning agent pipe outlet, O3Pipe outlet and discharge pipe outlet are mounted at hand;
Described control unit is used to control the work of the first pump, the second pump, blower fan and hand drive division respectively according to the program of setting Make.
2. toilet clean robot according to claim 1, is characterized in that:It is provided with the main body for existing for hand The guide rail mechanism slided in main body, hand is installed at guide rail mechanism;Hand drive division is motor, the motor output Screw mandrel is coaxially fixed with axle, the nut being engaged is arranged with the screw mandrel, the nut is fixed with hand.
3. toilet clean robot according to claim 1, is characterized in that, the cleaning mechanism also includes floor cleaning Module, the floor cleaning module is included:
The vacuum cleaner being installed at main body, the suction port of the vacuum cleaner is located at bottom part body and arranges downward;
The cleaning motor being installed in main body, the output shaft of the cleaning motor is arranged straight down;
It is fixed on the sponge brush of output shaft end;
The hair-dryer air outlet is connected to blows ground discharge pipe, and this blows ground discharge pipe outlet and is located at bottom part body and downward Arrange;
The vacuum cleaner and rotary electric machine are controlled by control unit.
4. toilet clean robot according to claim 3, is characterized in that, the cleaning mechanism is also included for driving The lifting unit of cleaning motor lifting, the lifting unit is controlled by control unit.
5. the toilet clean robot according to claim 3 or 4, is characterized in that:The cleaning mechanism also includes enclosing, The enclosing is circumferentially disposed around sponge brush and surrounds closed-loop.
6. toilet clean robot according to claim 1, is characterized in that, also include the charging being installed at main body Battery and be connected with rechargeable battery charging port by electric module, should be wireless charging receiving coil or by electricity by electric module Contact;The rechargeable battery is connected respectively by circuit with the first pump, the second pump, blower fan and hand driver, and each circuit Place is respectively equipped with the controlling switch for being controlled by control unit.
7. toilet clean robot according to claim 1, is characterized in that, also include door-opening mechanism, the door lifter Structure includes the push rod and the top rod driving portion for driving push rod axially reciprocating being installed at main body.
8. toilet clean robot according to claim 1, is characterized in that, also including human body sensor, the human body is passed Sensor is used to sense human infrared signal and produces corresponding infrared digital signal, and described control unit is used for reception and judges to be somebody's turn to do Infrared digital signal simultaneously produces corresponding control signal.
9. toilet clean robot according to claim 1, is characterized in that, the cleaning agent case, O3Water tank and water storage box Liquid level sensor is inside separately installed with, the liquid level sensor is used to sense in the casing of place liquid level signal and produce corresponding liquid Position induced signal, described control unit passes through connection with liquid level sensor.
10. toilet clean robot according to claim 1, is characterized in that, also include:
The laser scanning probe being installed at main body;
The detection module being connected with laser scanning probe, the detection module is entered by laser scanning scanning probe environment and to environment Row simulation is drawn;
Trajectory planning module, draws and plans rational trajectory signal for receiving the simulation for carrying out self-detection module;
Described control unit receives the trajectory signal from trajectory planning module, and controls the work of walking mechanism according to trajectory signal Make.
CN201610907002.8A 2016-10-18 2016-10-18 Cleaning robot for bathroom CN106618401A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Publication Number Publication Date
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742350A (en) * 2018-06-28 2018-11-06 芜湖泰领信息科技有限公司 The automatic replacing options of cleaning brush and intelligent sweeping
CN108814441A (en) * 2018-06-28 2018-11-16 芜湖泰领信息科技有限公司 Cleaning brush self cleaning method and intelligent sweeping machine
CN108814440A (en) * 2018-06-28 2018-11-16 芜湖泰领信息科技有限公司 Sweeper automatic cleaning method and intelligent sweeping machine based on two-value method
CN108968812A (en) * 2018-06-28 2018-12-11 芜湖泰领信息科技有限公司 The sweeper and cleaning head automatic switching method of automatic conversion cleaning head
CN108968813A (en) * 2018-06-28 2018-12-11 芜湖泰领信息科技有限公司 The sweeper of automatic conversion cleaning head
CN108992002A (en) * 2018-06-28 2018-12-14 芜湖泰领信息科技有限公司 Intelligent sweeping machine
CN108992003A (en) * 2018-06-28 2018-12-14 芜湖泰领信息科技有限公司 The sweeper and cleaning head automatic switching method of automatic conversion cleaning head
CN109044203A (en) * 2018-06-28 2018-12-21 芜湖泰领信息科技有限公司 Sweeper automatic cleaning method and intelligent sweeping machine
CN109077675A (en) * 2018-06-28 2018-12-25 芜湖泰领信息科技有限公司 The sweeper and its automatic cleaning method of automated cleaning
CN109077674A (en) * 2018-06-28 2018-12-25 芜湖泰领信息科技有限公司 The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper
CN110664324A (en) * 2018-07-02 2020-01-10 凌昕 Robot for cleaning toilet

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742350A (en) * 2018-06-28 2018-11-06 芜湖泰领信息科技有限公司 The automatic replacing options of cleaning brush and intelligent sweeping
CN108814441A (en) * 2018-06-28 2018-11-16 芜湖泰领信息科技有限公司 Cleaning brush self cleaning method and intelligent sweeping machine
CN108814440A (en) * 2018-06-28 2018-11-16 芜湖泰领信息科技有限公司 Sweeper automatic cleaning method and intelligent sweeping machine based on two-value method
CN108968812A (en) * 2018-06-28 2018-12-11 芜湖泰领信息科技有限公司 The sweeper and cleaning head automatic switching method of automatic conversion cleaning head
CN108968813A (en) * 2018-06-28 2018-12-11 芜湖泰领信息科技有限公司 The sweeper of automatic conversion cleaning head
CN108992002A (en) * 2018-06-28 2018-12-14 芜湖泰领信息科技有限公司 Intelligent sweeping machine
CN108992003A (en) * 2018-06-28 2018-12-14 芜湖泰领信息科技有限公司 The sweeper and cleaning head automatic switching method of automatic conversion cleaning head
CN109044203A (en) * 2018-06-28 2018-12-21 芜湖泰领信息科技有限公司 Sweeper automatic cleaning method and intelligent sweeping machine
CN109077675A (en) * 2018-06-28 2018-12-25 芜湖泰领信息科技有限公司 The sweeper and its automatic cleaning method of automated cleaning
CN109077674A (en) * 2018-06-28 2018-12-25 芜湖泰领信息科技有限公司 The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper
CN108742350B (en) * 2018-06-28 2021-04-06 芜湖泰领信息科技有限公司 Automatic cleaning brush head replacement method and intelligent sweeper
CN110664324A (en) * 2018-07-02 2020-01-10 凌昕 Robot for cleaning toilet

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