CN106983456A - Intelligent robot for sweeping floor and its control method - Google Patents
Intelligent robot for sweeping floor and its control method Download PDFInfo
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- CN106983456A CN106983456A CN201710326526.2A CN201710326526A CN106983456A CN 106983456 A CN106983456 A CN 106983456A CN 201710326526 A CN201710326526 A CN 201710326526A CN 106983456 A CN106983456 A CN 106983456A
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- cleaning
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- 238000010408 sweeping Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims description 7
- 238000004140 cleaning Methods 0.000 claims abstract description 63
- 239000000428 dust Substances 0.000 claims abstract description 40
- 239000012459 cleaning agent Substances 0.000 claims description 28
- 239000007921 spray Substances 0.000 claims description 20
- 238000002360 preparation method Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000009423 ventilation Methods 0.000 claims description 9
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 8
- YQUVCSBJEUQKSH-UHFFFAOYSA-N protochatechuic acid Natural products OC(=O)C1=CC=C(O)C(O)=C1 YQUVCSBJEUQKSH-UHFFFAOYSA-N 0.000 claims description 7
- WKOLLVMJNQIZCI-UHFFFAOYSA-N vanillic acid Chemical compound COC1=CC(C(O)=O)=CC=C1O WKOLLVMJNQIZCI-UHFFFAOYSA-N 0.000 claims description 7
- TUUBOHWZSQXCSW-UHFFFAOYSA-N vanillic acid Natural products COC1=CC(O)=CC(C(O)=O)=C1 TUUBOHWZSQXCSW-UHFFFAOYSA-N 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 241001116389 Aloe Species 0.000 claims description 6
- 235000005979 Citrus limon Nutrition 0.000 claims description 6
- 244000131522 Citrus pyriformis Species 0.000 claims description 6
- 241000931143 Gleditsia sinensis Species 0.000 claims description 6
- BIVBRWYINDPWKA-VLQRKCJKSA-L Glycyrrhizinate dipotassium Chemical compound [K+].[K+].O([C@@H]1[C@@H](O)[C@H](O)[C@H](O[C@@H]1O[C@H]1CC[C@]2(C)[C@H]3C(=O)C=C4[C@@H]5C[C@](C)(CC[C@@]5(CC[C@@]4(C)[C@]3(C)CC[C@H]2C1(C)C)C)C(O)=O)C([O-])=O)[C@@H]1O[C@H](C([O-])=O)[C@@H](O)[C@H](O)[C@H]1O BIVBRWYINDPWKA-VLQRKCJKSA-L 0.000 claims description 6
- 241000220259 Raphanus Species 0.000 claims description 6
- 235000006140 Raphanus sativus var sativus Nutrition 0.000 claims description 6
- 235000011399 aloe vera Nutrition 0.000 claims description 6
- 229940101029 dipotassium glycyrrhizinate Drugs 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 239000010410 layer Substances 0.000 description 11
- 235000015895 biscuits Nutrition 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
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- 239000000126 substance Substances 0.000 description 4
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- 241001634499 Cola Species 0.000 description 3
- 235000011824 Cola pachycarpa Nutrition 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 3
- VTAJIXDZFCRWBR-UHFFFAOYSA-N Licoricesaponin B2 Natural products C1C(C2C(C3(CCC4(C)CCC(C)(CC4C3=CC2)C(O)=O)C)(C)CC2)(C)C2C(C)(C)CC1OC1OC(C(O)=O)C(O)C(O)C1OC1OC(C(O)=O)C(O)C(O)C1O VTAJIXDZFCRWBR-UHFFFAOYSA-N 0.000 description 2
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 150000001720 carbohydrates Chemical class 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 235000015218 chewing gum Nutrition 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- LPLVUJXQOOQHMX-UHFFFAOYSA-N glycyrrhetinic acid glycoside Natural products C1CC(C2C(C3(CCC4(C)CCC(C)(CC4C3=CC2=O)C(O)=O)C)(C)CC2)(C)C2C(C)(C)C1OC1OC(C(O)=O)C(O)C(O)C1OC1OC(C(O)=O)C(O)C(O)C1O LPLVUJXQOOQHMX-UHFFFAOYSA-N 0.000 description 2
- 229960004949 glycyrrhizic acid Drugs 0.000 description 2
- UYRUBYNTXSDKQT-UHFFFAOYSA-N glycyrrhizic acid Natural products CC1(C)C(CCC2(C)C1CCC3(C)C2C(=O)C=C4C5CC(C)(CCC5(C)CCC34C)C(=O)O)OC6OC(C(O)C(O)C6OC7OC(O)C(O)C(O)C7C(=O)O)C(=O)O UYRUBYNTXSDKQT-UHFFFAOYSA-N 0.000 description 2
- 239000001685 glycyrrhizic acid Substances 0.000 description 2
- 235000019410 glycyrrhizin Nutrition 0.000 description 2
- LPLVUJXQOOQHMX-QWBHMCJMSA-N glycyrrhizinic acid Chemical compound O([C@@H]1[C@@H](O)[C@H](O)[C@H](O[C@@H]1O[C@@H]1C([C@H]2[C@]([C@@H]3[C@@]([C@@]4(CC[C@@]5(C)CC[C@@](C)(C[C@H]5C4=CC3=O)C(O)=O)C)(C)CC2)(C)CC1)(C)C)C(O)=O)[C@@H]1O[C@H](C(O)=O)[C@@H](O)[C@H](O)[C@H]1O LPLVUJXQOOQHMX-QWBHMCJMSA-N 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000011591 potassium Substances 0.000 description 2
- 229910052700 potassium Inorganic materials 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- ZEYHEAKUIGZSGI-UHFFFAOYSA-N 4-methoxybenzoic acid Chemical group COC1=CC=C(C(O)=O)C=C1 ZEYHEAKUIGZSGI-UHFFFAOYSA-N 0.000 description 1
- ZAMOUSCENKQFHK-UHFFFAOYSA-N Chlorine atom Chemical compound [Cl] ZAMOUSCENKQFHK-UHFFFAOYSA-N 0.000 description 1
- 206010065954 Stubbornness Diseases 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
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Classifications
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4027—Filtering or separating contaminants or debris
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4036—Parts or details of the surface treating tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D1/00—Detergent compositions based essentially on surface-active compounds; Use of these compounds as a detergent
- C11D1/66—Non-ionic compounds
- C11D1/825—Mixtures of compounds all of which are non-ionic
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D3/00—Other compounding ingredients of detergent compositions covered in group C11D1/00
- C11D3/16—Organic compounds
- C11D3/20—Organic compounds containing oxygen
- C11D3/2003—Alcohols; Phenols
- C11D3/2006—Monohydric alcohols
- C11D3/201—Monohydric alcohols linear
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D3/00—Other compounding ingredients of detergent compositions covered in group C11D1/00
- C11D3/16—Organic compounds
- C11D3/20—Organic compounds containing oxygen
- C11D3/2075—Carboxylic acids-salts thereof
- C11D3/2089—Ether acids-salts thereof
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D3/00—Other compounding ingredients of detergent compositions covered in group C11D1/00
- C11D3/16—Organic compounds
- C11D3/38—Products with no well-defined composition, e.g. natural products
- C11D3/382—Vegetable products, e.g. soya meal, wood flour, sawdust
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D1/00—Detergent compositions based essentially on surface-active compounds; Use of these compounds as a detergent
- C11D1/66—Non-ionic compounds
- C11D1/662—Carbohydrates or derivatives
-
- C—CHEMISTRY; METALLURGY
- C11—ANIMAL OR VEGETABLE OILS, FATS, FATTY SUBSTANCES OR WAXES; FATTY ACIDS THEREFROM; DETERGENTS; CANDLES
- C11D—DETERGENT COMPOSITIONS; USE OF SINGLE SUBSTANCES AS DETERGENTS; SOAP OR SOAP-MAKING; RESIN SOAPS; RECOVERY OF GLYCEROL
- C11D2111/00—Cleaning compositions characterised by the objects to be cleaned; Cleaning compositions characterised by non-standard cleaning or washing processes
- C11D2111/10—Objects to be cleaned
- C11D2111/14—Hard surfaces
Landscapes
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Organic Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Emergency Medicine (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Intelligent robot for sweeping floor of the present invention includes housing (100), and it is the triangle of edge indent；Three cleaning parts (200), it is arranged in three ends angle of the housing of triangle (100)；Dust arrester (300), it is configured at the middle part of the housing (100), and it is connected by connecting tube (301) with the cleaning part (200)；Running part (400), it configures the center at the close edge of housing (100) of the triangle.The present invention, compared to traditional circular shell, can be easier to be swept into the dirty of corner of the room by the housing (100) of above-mentioned triangle.Also, each end angle of the housing (100) of triangle, which configures an independent cleaning part (200), to adjust direct of travel as needed, in order to adjust different cleaning modes.
Description
Technical field
It is more particularly to a kind of to be used for Intelligent robot for sweeping floor the present invention relates to a kind of smart machine.
Background technology
Sweeping robot, also known as sweeps machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances automatically
Kind, certain artificial intelligence can be relied on, floor cleaning work is completed in room automatically.It is general to be swept and vacuum mode using brush,
Ground debris is first received into the rubbish receiver into itself, so as to complete the function of land clearing.In general, it will complete clear
Sweep, dust suction, wipe the robot that works, be also uniformly classified as sweeping robot.
The fuselage of traditional machine of sweeping the floor is based on collar plate shape.Operated using rechargeable battery, mode of operation with remote control or
It is the guidance panel on machine.Typically the reservation of energy setting time is swept, and is voluntarily charged.There is setting inductor in front, can detect barrier
Hinder thing, such as encounter wall or other barriers, can voluntarily turn, and set according to every different vendor, and walk different routes, have
Planning cleans area.Because the function and convenience of its simple operations, are slowly popularized now, as working clan or Modern Home
The conventional electrical home appliances in front yard.
However, circular moulding and cleaning agency corresponding with circular moulding due to traditional sweeping robot, can make it
It is unfavorable for cleaning corner or spot as yet untouched by a clean-up campaign, when large area is cleaned, sweeping efficiency is low.Therefore, need badly at present one kind can clean corner or spot as yet untouched by a clean-up campaign,
The high Intelligent robot for sweeping floor of sweeping efficiency.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of simple in construction, cost it is low, easy to operate, health can be cleaned
The high Intelligent robot for sweeping floor of dead angle, sweeping efficiency.
Intelligent robot for sweeping floor of the present invention, including
Housing, it is the triangle of edge indent；
Three cleaning parts, it is arranged in three ends angle of the housing of triangle；
Dust arrester, it is configured at the middle part of the housing, and it is connected by connecting tube with the cleaning part；
Running part, its configure the triangle housing close to edge center.
Intelligent robot for sweeping floor of the present invention, wherein the cleaning part includes rolling portion, spray section, dust collecting port, outer cover；
The outer surface of the outer cover and the inner surface of the housing are fixed, the inner surface of the outer cover with it is described roll portion,
Spray section, dust collecting port, running part are fixed, and the outer cover is the casing without lower surface；
The portion of rolling includes the first column, rotating disk, flexible link, weighted spherical ball, bristle, the bottom of first column and institute
The inner surface for stating outer cover is fixed, and top and the first motor of first column are fixed, the output shaft of first motor and institute
The bottom for stating rotating disk is fixed, and the top of the rotating disk and one end of flexible link are fixed, the other end and weighted spherical ball of the flexible link
Fixed, the outer surface of the weighted spherical ball is provided with bristle, and the middle part of first column and one end of head rod are fixed, described
The other end of head rod is fixed with sleeve, and the sleeve set is outside the flexible link；
The spray section includes the second column, the second connecting rod, ball, slide bar, chute, the 3rd connecting rod, clamp, institute
The lower end and the inner surface of the outer cover for stating the second column are fixed, and the top of the second column and the upper end of second connecting rod are consolidated
Fixed, second connecting rod is up to front lower after to be tilted, and the upper surface of second connecting rod is provided with chute, and the chute is along institute
The length direction for stating the second connecting rod is set, provided with the slide bar for prolonging its movement in the chute, is configured in second connecting rod
There is gas bar, telescopic end and the slide bar of the gas bar are fixed, and the end of the slide bar is connected with two the symmetrically arranged 3rd
One end hinge connection of bar, the middle part hinge of the other ends of two the 3rd connecting rods respectively with two symmetrically arranged clamps
Connection, the rear end of two clamps and the leading portion hinge connection of second connecting rod, the leading portion of described two clamps are clamped jointly
Cleaning agent is provided with the ball, the ball, the surface of the ball is provided with multiple spray orifices；
The dust collecting port includes the first filter layer, blower fan, ventilation shaft, and the first filter layer configuration is in the outer cover
The top on surface, the air inlet of the blower fan is connected with the top of first filter layer, the exhaust outlet of the blower fan and ventilation
One end connection of pipeline, the other end of the ventilation shaft is connected with the dust arrester, provided with the second filtering in the dust arrester
Exhaust outlet is offered in the middle part of layer, the lower surface of dust arrester.
Intelligent robot for sweeping floor of the present invention, the middle part of the upper surface of its turntable and one end of the flexible link are fixed.
Intelligent robot for sweeping floor of the present invention, the edge of the upper surface of its turntable and one end of the flexible link are fixed.
The lower surface of Intelligent robot for sweeping floor of the present invention, wherein dust arrester is provided with cleaning cloth.
Intelligent robot for sweeping floor of the present invention, wherein cleaning agent are by following component by constituting by weight：
20~50 parts of gleditsia sinensis, 5~7 parts of lemon tablet, 3~5 parts of aloe, 3~5 parts of radish, 0.037 part of dipotassium glycyrrhizinate,
20 parts of alcohol, 0.006 part of vanillic acid, 200 parts of water；
The preparation method of above-mentioned cleaning agent comprises the following steps：
S100, the first solution of preparation：The gleditsia sinensis, lemon tablet, aloe, radish are put into and fill the closed transparent of alcohol
In container, in the sun shine 30 times, two hours every time, every time between interval be more than or equal to 22 hours, be made the first solution；
S200, the second solution of preparation：Vanillic acid, glycyrrhizic acid two will be added in first solution
Potassium, after stirring, is heated to 60 degree, continues 30 minutes；
S300, prepare cleaning agent：Water will be added in second solution.
The control method of Intelligent robot for sweeping floor of the present invention, comprises the following steps：
When first cleaning, two cleaning parts are set towards front, a cleaning part is set towards rear, and forward
Advance forward on one side, while cleaning；
When detecting corner of the room, a cleaning part is set towards front, two cleaning parts are set towards rear, and
Repeatedly travel forwards, backwards on one side, while cleaning.
It is upper that Intelligent robot for sweeping floor difference from prior art of the present invention is that Intelligent robot for sweeping floor of the present invention passes through
The housing of triangle is stated, compared to traditional circular shell, can be easier to be swept into the dirty of corner of the room.Also, triangle
Each end angle of housing configure an independent cleaning part and can adjust direct of travel as needed, in order to adjust difference
Cleaning modes.
The control method difference from prior art of Intelligent robot for sweeping floor of the present invention is intelligent sweeping of the present invention
The control method of device people utilizes the triangle shell of itself, is cleaned jointly with reference to three cleaning parts, when large area is cleaned, and uses
Two cleaning parts are set towards front, and the mode that a cleaning part is set towards rear is cleaned, to ensure speed.Put in cleaning
Fictitious time, is set with a cleaning part towards front, and two cleaning parts are set towards rear, and are cleaned repeatedly, to ensure no health
Dead angle.
The Intelligent robot for sweeping floor of the present invention is described further below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the schematic top plan view of Intelligent robot for sweeping floor；
Fig. 2 is the main view partial schematic diagram of Intelligent robot for sweeping floor shown in Fig. 1；
Fig. 3 is the schematic top plan view of the spray section in Fig. 2.
Embodiment
As shown in figure 1, Intelligent robot for sweeping floor of the present invention includes
Housing 100, it is the triangle of edge indent；
Three cleaning parts 200, it is arranged in three ends angle of the housing 100 of triangle；
Dust arrester 300, it is configured at the middle part of the housing 100, and it is connected by connecting tube 301 with the cleaning part 200
Connect；
Running part 400, its configure the triangle housing 100 close to edge center.
The present invention, compared to traditional circular shell, can be easier to be swept into room by the housing 100 of above-mentioned triangle
Corner it is dirty.Also, each end angle of the housing 100 of triangle configures an independent cleaning part 200 can be as needed
And direct of travel is adjusted, in order to adjust different cleaning modes.For example, if necessary to large area fast sweep when, then with three
Angular two ends angle is forward, and end angle is advanced rearward, in order to large area fast sweep.If necessary to clean corner
When, then forward with end angle, two ends angle is advanced rearward, in order to be able to stretch into corner cleaning, so as to realize cleaning effect
Rate is high, can clean the effect in corner.
Wherein running part 400 may include spin, support, motor, the power line and data wire of the motor respectively with it is described
General supply and the control module connection of Intelligent robot for sweeping floor, to manipulate the posture of its walking and rotation.Wherein, support, spin,
The structure of motor is prior art, is not repeated herein.
Preferably, the cleaning part 200 includes rolling portion 210, spray section 220, dust collecting port 230, outer cover 240；
The outer surface of the outer cover 240 and the inner surface of the housing 100 are fixed, the inner surface of the outer cover 240 and institute
State the portion of rolling 210, spray section 220, dust collecting port 230, running part 400 to fix, the outer cover 240 is the casing without lower surface；
Wherein, the lower end of support and motor and the outer cover 240 is fixed, and the spin is rack-mount by bearing,
The motor drives the spin rotation, and the motor is everything motor, i.e. the output end of motor is described provided with a spheroid
Spheroid and the spin CONTACT WITH FRICTION, the spheroid of the motor can rotate around any direction, so that spin rotates around any direction,
So as to arbitrarily drive the position and orientation of Intelligent robot for sweeping floor.
The portion 210 that rolls includes the first column 211, rotating disk 212, flexible link 213, weighted spherical ball 214, bristle 215, described
The bottom of first column 211 and the inner surface of the outer cover 240 are fixed, and top and the first motor of first column 211 are consolidated
Fixed, the bottom of the output shaft of first motor and the rotating disk 212 is fixed, top and the flexible link 213 of the rotating disk 212
One end is fixed, and the other end and the weighted spherical ball 214 of the flexible link 213 are fixed, and the outer surface of the weighted spherical ball 214 is provided with bristle
215, the middle part and one end of head rod 216 of first column 211 are fixed, the other end of the head rod 216
Fixed with sleeve 217, the sleeve 217 is sleeved on outside the flexible link 213；
The present invention drives flexible link 213 to rotate by the rotation of the rotating disk 212 in the portion of rolling 210, so that weighted spherical ball 214
Rotation, causes bristle 215 to rotate, and constrains the direction of weighted spherical ball 214 by sleeve 217, so that running into height not
With foul when, have a flexibility of figure flexible link 213, weighted spherical ball 214 can still automatically adapt to the height of foul, and pass through rotation
Turn smashed, kicked up, to be sucked dust collecting port 230.
The spray section 220 include the second column 221, the second connecting rod 222, ball 223, slide bar 224, chute 225,
3rd connecting rod 226, clamp 227, the lower end of second column 221 and the inner surface of the outer cover 240 are fixed, the second column
221 top and the upper end of second connecting rod 222 are fixed, and second connecting rod 222 is up to front lower after to be tilted, described
The upper surface of second connecting rod 222 is provided with chute 225, and length direction of the chute 225 along second connecting rod 222 is set
Put, provided with the slide bar 224 for prolonging its movement in the chute 225, gas bar, the gas bar are configured with second connecting rod 222
Telescopic end fixed with the slide bar 224, the end of the slide bar 224 and the one of two symmetrically arranged 3rd connecting rods 226
Hold hinge connection, the middle part hinge of the other ends of two the 3rd connecting rods 226 respectively with two symmetrically arranged clamps 227
Connection, the rear end of two clamps 227 and the leading portion hinge connection of second connecting rod 222, the leading portion of described two clamps 227
Clamp jointly and cleaning agent is provided with the ball 223, the ball 223, the surface of the ball 223 is provided with multiple sprays
Hole；
The present invention sprays cleaning agent by above-mentioned spray section 220, for obstinate foul, to be such as sprinkled upon on the ground and to do
Fall the cleaning of this obstinate foul of cola, orange juice jelly.Its principle is that gas bar driving slide bar 224 is moved, and slide bar 224 passes through
3rd connecting rod 226 drives clamp 227 to extrude ball 223, to reach the effect of sprinkling cleaning agent.Wherein, due to cleaning
All multicomponents in agent, the composition such as chlorine, essence should not excessively be contacted with air, also, be preserved in Intelligent robot for sweeping floor
Excessive cleaning agent, which easily causes cleaning agent, increases the deadweight of Intelligent robot for sweeping floor, influences the continuation of the journey of Intelligent robot for sweeping floor.This
Outside, cleaning agent is preserved by the ball 223 of independent packaging, the cleaning agent of traditional sweeping robot reused can be avoided
The pollution of nozzle, to ensure the chemical property of cleaning agent.Cleaning is filled in Intelligent robot for sweeping floor in use, being changed for it every time
The ball 223 of agent, can be achieved the cleaning of higher efficiency, and can also control whether to need sprinkling from physical layer.For example exist
Region with high-tension electricity is cleaned using the robot, even if the spray switch of traditional robot can electric control, but its
Easily broken down under the complex situations such as high-tension electricity and cause to spray by mistake, and only can directly removed with the sprinkling of such a ball 223
Ball, so as to avoid these problems in physical layer.
The dust collecting port 230 includes the first filter layer 231, blower fan 232, ventilation shaft 233, first filter layer 231
Configuration is at the top of the inner surface of outer cover 240, and the top of the air inlet of the blower fan 232 and first filter layer 231 connects
Connect, the exhaust outlet of the blower fan 232 is connected with one end of ventilation shaft 233, the other end of the ventilation shaft 233 and the collection
Dirt device 300 is connected, and is provided with the dust arrester 300 in the middle part of second filter layer, the lower surface of dust arrester 300 and is offered exhaust
Mouthful.
The present invention by above-mentioned configuration the top of the inner surface of outer cover 240 the first filter layer 231 come dust suction so that
Make the portion of rolling 210, the top of spray section 220 all can directly dust suction, i.e. if the foul of bulky grain, such as biscuit, by rolling
Portion 210 pulverizes, and directly can siphon away a part by dust collecting port afterwards, and another part can be by the burn into diluting effect of cleaning agent, even
Sucked together with liquefied cleaning agent in opening occasion not, also, because cleaning agent is liquefied, can also reduce the appearance of airborne dust, together
When, because the exhaust outlet of dust arrester 300 is located at lower surface, then foul can be continued to suck dust suction repeatedly by the circulation of air-flow
In portion 230.
Running part 400, the first motor for rolling portion 210, the gas bar of spray section 220, the blower fan of dust collecting port 230 of the present invention
232 are connected with the general supply and control module of the Intelligent robot for sweeping floor, to control it.The intelligent floor-sweeping
The control module of robot is connected by WIFI module with mobile phone.
Preferably, the middle part of the upper surface of the rotating disk 212 and one end of the flexible link 213 are fixed.
The present invention is due to flexible link 213 and the middle part of the rotating disk 212 fixing, therefore, when rotating disk 212 is rotated, counterweight
Ball 214 can only be rotated or vertical tremor by a small margin, preferably to make bristle 215 scrub and roll the foul of ground.
Certainly, the rotating disk 212 and the deformation of the annexation of the flexible link 213 can also be：The rotating disk 212 it is upper
The edge on surface and one end of the flexible link 213 are fixed.
The present invention is due to due to flexible link 213 and the edge of the rotating disk 212 fixing, therefore, during rotating disk rotation, weighted spherical ball
214 can not only be rotated, meanwhile, significantly can also tremble up and down because, bias connection flexible link 213 upper end with
The distance between sleeve 217 can be changed, so weighted spherical ball 214 can be by up-down stretch.The present invention is by teetertottering and rotation
Bristle 215 come the foul that cleans, tremble, roll on floor, to make foul bulkization small, so as to be sucked by dust collecting port 230.
For example, the bulk biscuit on floor, dust collecting port 230 can not be sucked, or bulk biscuit blocks dust suction and inhaled, and passes through vibration up and down
Weighted spherical ball 214 and bristle 215 can be broken into it is powdered, so that dust collecting port 230 is sucked.
Preferably, the lower surface of the dust arrester is provided with cleaning cloth.
The present invention wipes the cleaning agent in ball 223, and its foul by above-mentioned cleaning cloth, can be preferably by ground
It is clean.
Preferably, the cleaning agent by following component by constituting by weight：
20~50 parts of gleditsia sinensis, 5~7 parts of lemon tablet, 3~5 parts of aloe, 3~5 parts of radish, 0.037 part of dipotassium glycyrrhizinate,
20 parts of alcohol, 0.006 part of vanillic acid, 200 parts of water；
The preparation method of above-mentioned cleaning agent comprises the following steps：
S100, the first solution of preparation：The gleditsia sinensis, lemon tablet, aloe, radish are put into and fill the closed transparent of alcohol
In container, in the sun shine 30 times, two hours every time, every time between interval be more than or equal to 22 hours, be made the first solution；
S200, the second solution of preparation：Vanillic acid, glycyrrhizic acid two will be added in first solution
Potassium, after stirring, is heated to 60 degree, continues 30 minutes；
S300, prepare cleaning agent：Water will be added in second solution.
Present invention cleaning agent obtained through the above way has the following advantages that：
1st, for the foul of carbohydrate, biscuit, the cola killed, the chewing gum for being bonded at ground etc. stubbornness foul, have compared with
Strong degradation.That is, can by it is above-mentioned roll portion 210, the foul that dust collecting port 230 can not be removed, sprayed by its spray section 220
Cleaning agent come foul of degrading.
2nd, it is corrosion-free to floor at home and floor tile, due to existing alkaline components in the present invention, there is acid ingredient again, its
Chemical property is more neutral, therefore, and it will not be impacted for ground.
3rd, to the floor in family and floor tile formation protective layer, due to the more oiliness of the cleaning agent in the present invention, it is sprayed at
A protective layer that will not be volatilized completely can be formed on floor and floor tile, the foul of above-mentioned carbohydrate is run into again on floor and floor tile
When, it can conveniently roll portion 210, dust collecting port 230 and directly be understood.
Clear water, certain board dish detergent with the cleaning agent of the present invention understand the contrast of effect as comparative example now,
100 portions of biscuits are selected respectively, are trickled down in timber floor, and 100 parts of colas are sprinkled upon in timber floor and air-dried, 100 portions of chewing gums are bonded at
On floor, it is defined by wiping clean, comparative example and the wiping number of times of embodiment is calculated respectively, the experimental results are shown inthe following table for it：
And coordinate above-mentioned with above-mentioned dipotassium glycyrrhizinate, alcohol, 4- hydroxyl -3- first can be avoided in the ball 223
Composition after the composition of p-methoxybenzoic acid and its chemical reaction does not damage its chemical property by the debris in air and air.
It should be noted that in organic chemistry, any reaction be all it is mutual, i.e., the arrow in chemical equation be it is mutual, because
Composition in this cleaning agent both containing dipotassium glycyrrhizinate alcohol vanillic acid, it is also anti-containing its generation chemistry
The composition of product after answering.
The control method of Intelligent robot for sweeping floor of the present invention, it is characterised in that comprise the following steps：
When first cleaning, two cleaning parts 200 are set towards front, a cleaning part 200 is set towards rear,
And advance forward on one side forward, while cleaning；
When detecting corner of the room, a cleaning part 200 is set towards front, two cleaning parts 200 are towards rear
Set, and repeatedly travel forwards, backwards on one side, while cleaning.
The present invention utilizes the triangle shell 100 of itself, cleans, is cleaned in large area jointly with reference to three cleaning parts 200
When, set using two cleaning parts 200 towards front, the mode that a cleaning part 200 is set towards rear is cleaned, to ensure
Speed.When cleaning is had a holiday or vacation, set with a cleaning part 200 towards front, two cleaning parts 200 are set towards rear, and instead
It is multiple to clean, to ensure no corner or spot as yet untouched by a clean-up campaign.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (7)
1. a kind of Intelligent robot for sweeping floor, it is characterised in that：Including
Housing (100), it is the triangle of edge indent；
Three cleaning parts (200), it is arranged in three ends angle of the housing of triangle (100)；
Dust arrester (300), it is configured at the middle part of the housing (100), and it passes through connecting tube (301) and the cleaning part
(200) connect；
Running part (400), it configures the center at the close edge of housing (100) of the triangle.
2. Intelligent robot for sweeping floor according to claim 1, it is characterised in that：The cleaning part (200) includes rolling portion
(210), spray section (220), dust collecting port (230), outer cover (240)；
The outer surface of the outer cover (240) and the inner surface of the housing (100) are fixed, the inner surface of the outer cover (240) with
Described to roll portion (210), spray section (220), dust collecting port (230), running part (400) fixation, the outer cover (240) is without following table
The casing in face；
The portion (210) that rolls includes the first column (211), rotating disk (212), flexible link (213), weighted spherical ball (214), bristle
(215), the bottom of first column (211) and the inner surface of the outer cover (240) are fixed, first column (211)
Top is fixed with the first motor, and the bottom of the output shaft and the rotating disk (212) of first motor is fixed, the rotating disk
(212) one end at top and flexible link (213) is fixed, and the other end and weighted spherical ball (214) of the flexible link (213) are fixed,
The outer surface of the weighted spherical ball (214) is provided with bristle (215), middle part and the head rod (216) of first column (211)
One end fix, the other end of the head rod (216) is fixed with sleeve (217), and the sleeve (217) is sleeved on described
Flexible link (213) is outside；
The spray section (220) includes the second column (221), the second connecting rod (222), ball (223), slide bar (224), cunning
Groove (225), the 3rd connecting rod (226), clamp (227), the lower end of second column (221) are interior with the outer cover (240)
Surface is fixed, and the top of the second column (221) and the upper end of second connecting rod (222) are fixed, second connecting rod
(222) up to front lower after to tilt, the upper surface of second connecting rod (222) is provided with chute (225), the chute (225)
Set along the length direction of second connecting rod (222), provided with the slide bar (224) for prolonging its movement, institute in the chute (225)
State and gas bar is configured with the second connecting rod (222), the telescopic end and the slide bar (224) of the gas bar are fixed, the slide bar
(224) end and one end hinge connection of two symmetrically arranged 3rd connecting rods (226), two the 3rd connecting rods
(226) the middle part hinge connection of the other end respectively with two symmetrically arranged clamps (227), the rear end of two clamps (227)
With the leading portion hinge connection of second connecting rod (222), the leading portion of described two clamps (227) clamps the ball jointly
(223) cleaning agent, is provided with the ball (223), the surface of the ball (223) is provided with multiple spray orifices；
The dust collecting port (230) includes the first filter layer (231), blower fan (232), ventilation shaft (233), first filter layer
(231) configuration is at the top of the outer cover (240) inner surface, air inlet and first filter layer of the blower fan (232)
(231) top connection, the exhaust outlet of the blower fan (232) is connected with one end of ventilation shaft (233), the ventilation shaft
(233) the other end is connected with the dust arrester (300), and the second filter layer, dust arrester are provided with the dust arrester (300)
(300) exhaust outlet is offered in the middle part of lower surface.
3. Intelligent robot for sweeping floor according to claim 2, it is characterised in that：In the upper surface of the rotating disk (212)
The one end in portion and the flexible link (213) is fixed.
4. Intelligent robot for sweeping floor according to claim 2, it is characterised in that：The side of the upper surface of the rotating disk (212)
One end at edge with the flexible link (213) is fixed.
5. Intelligent robot for sweeping floor according to claim 4, it is characterised in that：The lower surface of the dust arrester is provided with cleaning
Cloth.
6. Intelligent robot for sweeping floor according to claim 4, it is characterised in that：The cleaning agent is by following component by weight
Number is measured to constitute：
20~50 parts of gleditsia sinensis, 5~7 parts of lemon tablet, 3~5 parts of aloe, 3~5 parts of radish, 0.037 part of dipotassium glycyrrhizinate, alcohol
20 parts, 0.006 part of vanillic acid, 200 parts of water；
The preparation method of above-mentioned cleaning agent comprises the following steps：
S100, the first solution of preparation：The gleditsia sinensis, lemon tablet, aloe, radish are put into the closed transparent vessel for filling alcohol
In, in the sun shine 30 times, two hours every time, every time between interval be more than or equal to 22 hours, be made the first solution；
S200, the second solution of preparation：Vanillic acid, dipotassium glycyrrhizinate will be added in first solution, stirred
After mixing uniformly, 60 degree are heated to, continues 30 minutes；
S300, prepare cleaning agent：Water will be added in second solution.
7. utilize the control method of the Intelligent robot for sweeping floor described in claim 1~6 any one, it is characterised in that including such as
Lower step：
When first cleaning, two cleaning parts (200) are set towards front, a cleaning part (200) is set towards rear,
And advance forward on one side forward, while cleaning；
When detecting corner of the room, a cleaning part (200) is set towards front, two cleaning parts (200) are towards rear
Set, and repeatedly travel forwards, backwards on one side, while cleaning.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326526.2A CN106983456B (en) | 2017-05-10 | 2017-05-10 | Intelligent sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326526.2A CN106983456B (en) | 2017-05-10 | 2017-05-10 | Intelligent sweeping robot |
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| CN106983456A true CN106983456A (en) | 2017-07-28 |
| CN106983456B CN106983456B (en) | 2019-05-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606733A (en) * | 2018-07-12 | 2018-10-02 | 刘喃喃 | A kind of Internet of Things sweeping robot |
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| Publication number | Publication date |
|---|---|
| CN106983456B (en) | 2019-05-31 |
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Effective date of registration: 20190130 Address after: Room C508, Building 1, Pioneering Center, No. 96 Ruida Road, Zhengzhou High-tech Industrial Development Zone, 450000 Henan Province Applicant after: ZHENGZHOU GUOZHI NETWORK TECHNOLOGY Co.,Ltd. Address before: 100010 unit 3, 1 / F, West Street, barracks, Dongcheng District, Beijing 402 Applicant before: Li Xiurong |
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Address after: 806, 8th Floor, Building A, Hongtai International Building, No. 75 Longcheng Street, Xiaodian District, Taiyuan City, Shanxi Province, 030000 Patentee after: SHANXI TOPBULL INTERNET OF THINGS TECHNOLOGY Co.,Ltd. Address before: Room 803 and 805, No. 38 Industrial Road, Taiyuan Xuefu Park, Taiyuan Comprehensive Reform Demonstration Area, Shanxi Province Patentee before: SHANXI TOPBULL INTERNET OF THINGS TECHNOLOGY Co.,Ltd. |
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