CN107028560A - A kind of mobile phone A PP controls Multifunctional cleaning machine people - Google Patents

A kind of mobile phone A PP controls Multifunctional cleaning machine people Download PDF

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Publication number
CN107028560A
CN107028560A CN201710290572.1A CN201710290572A CN107028560A CN 107028560 A CN107028560 A CN 107028560A CN 201710290572 A CN201710290572 A CN 201710290572A CN 107028560 A CN107028560 A CN 107028560A
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CN
China
Prior art keywords
hair
chassis
mobile phone
fixed
hairbrush
Prior art date
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Granted
Application number
CN201710290572.1A
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Chinese (zh)
Other versions
CN107028560B (en
Inventor
董为民
张钰瑶
孙东明
许平
孙军锋
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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Priority to CN201710290572.1A priority Critical patent/CN107028560B/en
Publication of CN107028560A publication Critical patent/CN107028560A/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
    • A47L11/24Floor-sweeping machines, motor-driven
    • 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4022Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
    • 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • 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
    • 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
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

Multifunctional cleaning machine people is controlled the present invention relates to a kind of mobile phone A PP, belongs to household cleaning technology field.Including chassis, robot shells, large arm, forearm, manipulator, hairbrush, hair is dragged, universal wheel, control device, control device includes mobile phone A PP transmitter modules, Bluetooth receptions module, locating module, single-chip microcomputer, robot shells are fixed on above chassis, universal wheel is fixed on below chassis, hairbrush, hair is dragged, dust is stored device and is arranged in chassis, hairbrush, hair is dragged to be connected by expansion link with expansion link motor, robot's arm is fixed in robot shells, forearm is connected with large arm, manipulator is connected with forearm, mobile phone A PP controls can be used to complete the work such as indoor cleaning.A kind of mobile phone A PP controls Multifunctional cleaning machine people of the present invention, it is simple and reasonable, by mobile phone A PP Multifunctional cleaning machine people can be controlled to be moved in room, the function of cleaning, mop floor be completed, while also having the advantages that energy-conserving and environment-protective.

Description

A kind of mobile phone A PP controls Multifunctional cleaning machine people
Technical field controls Multifunctional cleaning machine people the present invention relates to a kind of mobile phone A PP, belongs to household cleaning technology Field.
Background technology is among daily life, and people are busy with one's work, but everyone has been intended to a neat and tidy Living environment.Although existing sweeping robot small volume, most of to lack other functions, structure, function are single, and User oneself can not be leaned on to select working method, it is impossible to be operated according to user's request, be difficult to control.With automatic technology and The development of information technology, mobile phone becomes the necessary article during everyone lives, but how to complete household cleaning by mobile phone control With indoor environment optimization etc. cleaning, also without more perfect scheme.
The content of the invention
Multifunctional cleaning machine people is controlled the technical problem to be solved in the present invention is to provide a kind of mobile phone A PP, is provided simultaneously 3 kinds of functions:One robot, which can be respectively completed, sweeps the floor, and mops floor, the work of air cleaning, while solving prior art not Convenient operation, it is impossible to the shortcoming being controlled with mobile phone.
The technical solution adopted by the present invention is:A kind of mobile phone A PP controls Multifunctional cleaning machine people, including control device, Chassis 1, universal wheel 2, robot shells 3, large arm 4, forearm 6, hand 7, support 31, expansion link 33, flexible rod sleeve 35, expansion link Motor 36, water tank 38, shower nozzle 40, dust receiver 41, hand controlled motor 42, universal wheel chassis 21, hairbrush 22, hair drag 23, hair Drag wring-out device 24;
Described support 31 is fixed on the top of chassis 1, including vertical portion perpendicular to the upper surface of chassis 1 and parallel to chassis 1 The horizontal component of upper surface;Universal wheel chassis 21 is fixed on the lower section of chassis 1, and universal wheel 2 is fixed on the lower section of universal wheel chassis 21;Stretch Contracting rod sleeve 35 is fixed on the support 31 parallel to the upper surface of chassis 1, and expansion link 33 is placed in inside flexible rod sleeve 35, is stretched Bar motor 36 is fixed on the upper surface of support 31 perpendicular to the upper surface of chassis 1 and is connected with the top of expansion link 33, and water tank 38 passes through Fixed support block is fixed on the support 31 vertical with the upper surface of chassis 1;A mao collection is respectively equipped with chassis 1 and receives device, hairbrush Device is stored, shower nozzle 40 is fixed on hair and drags the hair collection of 23 tops to receive on device, and is mutually fixedly connected with top water tank 38;Dust The hairbrush that receiver 41 is fixed on the top of hairbrush 22 stores device upper surface, and hair drags wring-out device 24 to drag 23 to be connected with hair, is used for Wring out hair and drag 23, hair drags 23, hairbrush 22 to be connected respectively with expansion link 33;Large arm 4 is fixed on the two ends over-hang part of robot shells 3 Point, forearm 6 is fixed on the one end of large arm 4, and manipulator 7 is fixed on the one end of forearm 6, and hand controlled motor 42 is fixed on and chassis upper surface On the support 31 of level, described control device include mobile phone A PP transmitter modules 52, Bluetooth receptions module 53, locating module 54, Single-chip microcomputer 55, mobile phone A PP transmitter modules 52 are arranged on user mobile phone, Bluetooth receptions module 53, locating module 54, expansion link electricity Machine 36 is located inside robot shells 3, and universal wheel 2, hand controlled motor 42, expansion link motor 36 are connected with single-chip microcomputer 55.
Preferably, in addition to humidifier apparatus 8, support bar 5, water pipe I 32, filter 34, water pipe II 37, water absorber 39th, humidifier motor 81;
The described lower end of support bar 5 is fixedly connected on the center of chassis 1, and upper end connection humidifier apparatus 8, water absorber 39 is consolidated Being scheduled on hair drags the hair collection of 23 tops to receive on device and drag wring-out device 24 to be connected with hair, the one end of water pipe II 37 and water absorber 39 It is connected, the other end is connected with a water inlet of filter 34;The one end of water pipe I 32 and another water inlet of filter 34 It is connected, the other end is connected by support bar 5 with humidifier apparatus 8;Filter 34 is fixed on the top of water tank 38 and its delivery port It is connected with water tank 38, humidifier motor 81 is arranged in humidifier apparatus 8 and is connected with single-chip microcomputer 55.
More preferably, in addition to warning device 9, level sensor 82, level sensor 82 is arranged in humidifier apparatus 8 Portion, for detecting the water level inside humidifier apparatus 8, warning device 9 be located at the top of humidifier apparatus 8 and with level sensor 82 Connection.
The horizontal component of described support 31 is M shape support, and chassis 1 is surrounded by two hairbrush and stores device and two Device is received in individual hair collection, and it is two that hairbrush 22, hair, which drag 23 quantity, and it is axial symmetry with support bar 5 that two hairbrush, which store devices, Distribution and equal to the distance of support bar 5, it is that axial symmetry is distributed and to support bar 5 with support bar 5 that device is received in two hair collections Apart from equal.
Preferably, described universal wheel chassis 21 stores device, hair collection with hairbrush and receives device in same level position.
Preferably, when hairbrush 22, hair drag 23 work, single-chip microcomputer 55 is by controlling hand controlled motor 42 to hide manipulator 7 Block the warning device 9 of the top of humidifier apparatus 8;When humidifier apparatus 8 works, hairbrush 22, hair drag 23 when not working, single-chip microcomputer 55 by controlling hand controlled motor 42 manipulator 7 is supported ground, and robot is integrally rendered as potted plant form.
Preferably, described described warning device 9 is the alarm of leaf-shaped, and color is changed according to water level height.
Preferably, the second level sensor being connected with single-chip microcomputer 55 also is provided with described water tank 38.
The present invention operation principle be:Expansion link motor 36 controls expansion link 33 to move down when carrying out cleaning works, directly 23 arrival are dragged apart from ground reasonable altitudes to hairbrush 22, hair, the work cleaned, mopped floor.The dust that hairbrush 22 is cleaned can enter Enter in dust receiver 41, hair drags 23 to be connected with water tank 38, water tank 38 can be connected with support bar 5 by water pipe again so that humidification Water in device device 8 can be flowed into water tank 38 by the control timing of single-chip microcomputer 55, will be previously added in humidifier apparatus 8 Water extraction supply hair drag 23 to be operated.Hair collection, which is received, is provided with water absorber 39 above device, can by being fixed on hair, 23 Hair drags wring-out device 24 to suck back the water back-outed among filter 34, by the processing of filter 34, can again flow into Into water tank 38, reuse, saved water resource.
A kind of Multifunctional cleaning machine people of mobile phone A PP controls of the present invention, large arm 4 is fixed on the two ends of robot shells 3 Sponson, forearm 6 is fixed on the one end of large arm 4, and manipulator 7 is fixed on the one end of forearm 6, and hand controlled motor 42 is fixed on and chassis On the support 31 of upper surface level, this part is located at the side of chassis axis two.The end large arm of robot or so two, forearm, manipulator Position it is identical.The manipulator of robot can be controlled with single-chip microcomputer 55, and top humidifier is blocked when hairbrush 22, hair drag 23 work Warning device, it is to avoid the wrong report in the course of work.Robot support ground when humidifier apparatus 8 works, robot is integrally presented For potted plant form, the effect of decoration is served.
A kind of Multifunctional cleaning machine people of mobile phone A PP controls of the present invention, humidifier motor 81, level sensor 82 are consolidated It is scheduled on inside humidifier apparatus 8, wherein warning device 9 is connected with level sensor 82, the head of robot is filled as humidifier The function of humidifier can be played by putting 8, provided with level sensor 82, when water is not enough to trouble free service, same to cross level sensor 82, warning device is transferred to, warning device color is changed, plays a part of alarm.
A kind of Multifunctional cleaning machine people of mobile phone A PP controls of the present invention, when single-chip microcomputer 55 sends instruction, universal wheel 2 work, robot can indoors be moved freely, is operated, and operation is flexible, can meet work of the user in each space Need.
A kind of Multifunctional cleaning machine people of mobile phone A PP controls of the present invention, including battery module 51, mobile phone A PP transmittings Module 52, Bluetooth receptions module 53, locating module 54, single-chip microcomputer 55, battery module 51 is used to give machine sections point power supply;Mobile phone APP transmitter modules 52 are placed in user mobile phone end, and instruction is assigned for user;Bluetooth receptions module 53 is placed in robot interior, uses User instruction is received in robot;Locating module 54 is used for robot localization, user is accurately positioned the operating position of machine people; Single-chip microcomputer 55 is used for control machine people each several part and completes assigned work.
The beneficial effects of the invention are as follows:A kind of mobile phone A PP controls Multifunctional cleaning machine people of the present invention, structure letter It is single rationally by mobile phone A PP sweeping robot to be controlled to be moved in room, the function of cleaning, mop floor is completed, while can be with Room is humidified by built-in humidifier, when humidifier works, robot can be with changing modeling, while serving dress Adorn the effect in room, it is adaptable to household cleaning, while also having the advantages that energy-conserving and environment-protective, be suitable for the application of popularization.
Brief description of the drawings
Fig. 1 is external structure schematic diagram of the invention;
Fig. 2 is the front schematic view of internal structure of the present invention;
Fig. 3 is the structural representation of another angles of Fig. 2;
Fig. 4 is the enlarged drawing on chassis 1 in Fig. 3;
Fig. 5 is Fig. 2 internal structure top view;
Fig. 6 is that mobile phone A PP controls Multifunctional cleaning machine people's circuit control principle figure;
The stereogram of robot when Fig. 7 is 8 working condition of humidifier apparatus.
In figure it is each marked as:Chassis -1, universal wheel -2, robot shells -3, large arm -4, support bar -5, forearm -6, machinery Hand -7, humidifier apparatus -8, warning device -9, support -31, water pipe I -32, expansion link -33, filter -34, flexible rod set Cylinder -35, expansion link motor -36, water pipe II -37, water tank -38, water absorber -39, shower nozzle -40, dust receiver -41, manual control Motor -42 processed, universal wheel chassis -21, hairbrush -22, hair drag -23, hair to drag wring-out device -24, humidifier motor -81, water level to pass Sensor -82, battery module -51, mobile phone A PP transmitter modules -52, Bluetooth receptions module -53, locating module -54, single-chip microcomputer -55.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment 1:As shown in figs. 1-7, a kind of mobile phone A PP controls Multifunctional cleaning machine people, including control device, chassis 1st, universal wheel 2, robot shells 3, large arm 4, forearm 6, hand 7, support 31, expansion link 33, flexible rod sleeve 35, expansion link motor 36th, water tank 38, shower nozzle 40, dust receiver 41, hand controlled motor 42, universal wheel chassis 21, hairbrush 22, hair drag 23, hair to drag stubborn Equipment for drying 24;
Described support 31 is fixed on the top of chassis 1, including vertical portion perpendicular to the upper surface of chassis 1 and parallel to chassis 1 The horizontal component of upper surface;Universal wheel chassis 21 is fixed on the lower section of chassis 1, and universal wheel 2 is fixed on the lower section of universal wheel chassis 21;Stretch Contracting rod sleeve 35 is fixed on the support 31 parallel to the upper surface of chassis 1, and expansion link 33 is placed in inside flexible rod sleeve 35, is stretched Bar motor 36 is fixed on the upper surface of support 31 perpendicular to the upper surface of chassis 1 and is connected with the top of expansion link 33, and water tank 38 passes through Fixed support block is fixed on the support 31 vertical with the upper surface of chassis 1;A mao collection is respectively equipped with chassis 1 and receives device, hairbrush Device is stored, shower nozzle 40 is fixed on hair and drags the hair collection of 23 tops to receive on device, and is mutually fixedly connected with top water tank 38, water tank 38 can be by manually adding water;The hairbrush that dust receiver 41 is fixed on the top of hairbrush 22 stores device upper surface, and hair drags stubborn Equipment for drying 24 drags 23 to be connected with hair, drags 23 for wringing out hair, hair drags 23, hairbrush 22 to be connected respectively with expansion link 33;Large arm 4 is fixed In the two ends sponson of robot shells 3, forearm 6 is fixed on the one end of large arm 4, and manipulator 7 is fixed on the one end of forearm 6, hand control Motor 42 is fixed on the support 31 with chassis upper surface level, and described control device includes mobile phone A PP transmitter modules 52, indigo plant Tooth receiving module 53, locating module 54, single-chip microcomputer 55, mobile phone A PP transmitter modules 52 are arranged on user mobile phone, Bluetooth receptions mould Block 53, locating module 54, expansion link motor 36 are located inside robot shells 3, universal wheel 2, hand controlled motor 42, expansion link electricity Machine 36 is connected with single-chip microcomputer 55.
As shown in fig. 6, the schematic diagram that circuit part is controlled in the present invention is given, including battery module 51, mobile phone A PP hairs Penetrate module 52, Bluetooth receptions module 53, locating module 54, single-chip microcomputer 55.Battery module 51 is used to give machine sections point power supply;Hand Machine APP transmitter modules 52 are placed in user mobile phone end, and instruction is assigned for user;Bluetooth receptions module 53 is placed in robot interior, User instruction is received for robot;Locating module 54 is used for robot localization, user is accurately positioned the working position of machine people Put;Single-chip microcomputer 55 is used for control machine people each several part and completes assigned work.When single-chip microcomputer 55 sends instruction, universal wheel 2 works, machine Device people can move freely indoors, carry out cleaning works, while can be moved in each space in house, to need the space humidified Environment optimization is provided.
Further, in addition to humidifier apparatus 8, support bar 5, water pipe I 32, filter 34, water pipe II 37, water suction dress Put 39, humidifier motor 81;
The described lower end of support bar 5 is fixedly connected on the center of chassis 1, and upper end connection humidifier apparatus 8, water absorber 39 is consolidated Being scheduled on hair drags the hair collection of 23 tops to receive on device and drag wring-out device 24 to be connected with hair, the one end of water pipe II 37 and water absorber 39 It is connected, the other end is connected with filter 34;The one end of water pipe I 32 is connected with filter 34, and the other end is by support bar 5 with adding Wet device device 8 is connected;Filter 34 is fixed on the top of water tank 38 and its delivery port is close to water tank wall, and humidifier motor 81 is pacified It is connected in humidifier apparatus 8 and with single-chip microcomputer 55.
With the change of weather, each family is required for an air purifier to ensure the health of oneself, but air Clarifier moulding is single, and price is higher, individually puts and not only takes up space, and single area can only be humidified, utilization rate It is not high.The sweeping machine head part of the present invention is humidifier apparatus 8, is humidified by 8 pairs of interiors of humidifier apparatus, sends out this Bright robot has a variety of functions, and humidifier, convenient and saving space are individually bought in addition without user.
The water tank 38 of the present invention can be connected with support bar 5 by water pipe so that the water in humidifier apparatus 8 can pass through list The control timing of piece machine 55 is flowed into water tank 38, and the water extraction being previously added in humidifier apparatus 8 supply hair is dragged into 23 carry out works Make.Hair collection receives device top provided with water absorber 39, by being fixed on hair 23 hair can be dragged to drag wring-out device 24 to back-out Water suck back among filter 34, by the processing of filter 34, can flow again into water tank 38, reuse, Water resource is saved.
Further, in addition to warning device 9, level sensor 82, level sensor 82 is arranged on humidifier apparatus 8 Inside, for detecting the water level inside humidifier apparatus 8, warning device 9 is located at the top of humidifier apparatus 8 and and level sensor 82 connections.When level sensor 82 is detected water level is low to be not sufficient to ensure that 8 normal work of humidifier apparatus when, warning device report It is alert, remind user to add water.
Further, as shown in figure 3, the horizontal component of described support 31 is M shape support, chassis 1 is surrounded by two Individual hairbrush stores device and device is received in two hair collections, and it is two that hairbrush 22, hair, which drag 23 quantity, and two hairbrush store devices It is that axial symmetry is distributed and equal to the distance of support bar 5 with support bar 5, it is axial symmetry with support bar 5 that device is received in two hair collections It is distributed and equal to the distance of support bar 5.
Further, described universal wheel chassis 21 stores device, hair collection with hairbrush and receives device in same level position Put.Because being that the control hairbrush 22 of single-chip microcomputer 55 and hair drag 23 to stretch, distance of stretch out and draw back will be consistent in same time, so Universal wheel chassis 21 is parallel with device is stored, it is ensured that hairbrush 22, hair drag 23 it is flexible when can be while encountering ground or simultaneously Take in storage device.
Further, when hairbrush 22, hair drag 23 work, single-chip microcomputer 55 is by controlling hand controlled motor 42 to make manipulator 7 Shelter from the warning device 9 of the top of humidifier apparatus 8, it is to avoid the wrong report in the course of work;When humidifier apparatus 8 works, hairbrush 22nd, hair drags 23 when not working, and single-chip microcomputer 55 is by controlling hand controlled motor 42 manipulator 7 is supported ground, and robot is in integrally It is now potted plant form, serves the effect of decoration.
Further, described described warning device 9 is the alarm of leaf-shaped, and face is changed according to water level height Color, alarms relatively more directly perceived by color, and leaf-shaped better appearance.
Further, the second level sensor being connected with single-chip microcomputer 55 also is provided with described water tank 38.When the second water When the water level that level sensor detects in water tank 38 is less than normal work water level, single-chip microcomputer 55 can be controlled in humidifier apparatus 8 Water by the inflow filter 34 of water pipe I 32, then flow into water tank 38, be the moisturizing of water tank 38.
Specific works mode of the present invention is as follows:When user needs to complete cleaning works, user is by being placed in mobile phone terminal Mobile phone A PP transmitter modules 52 are set, and set robot running parameter, and robot receives use by Bluetooth receptions module 53 Family is instructed, and determines operating position by locating module 54 first, and issues instruction, and the control universal wheel 2 of single-chip microcomputer 55 is moved, Specified location is reached, cleaning works is proceeded by, expansion link motor 36 makes expansion link 33 be moved inside flexible rod sleeve 35 Dynamic, the hairbrush 22 below expansion link is also moved down, and can be touched until reaching hairbrush with ground, now hairbrush starts work Make, robot can be rotated in place, and move left and right carry out cleaning works, the dust being collected into is recovered to ash by absorption plant In dirt receiver 41, easy cleaning.
When user needs to complete to mop floor work, user is set by being placed in the mobile phone A PP transmitter modules 52 of mobile phone terminal It is fixed, robot running parameter is set, and robot receives user instruction by Bluetooth receptions module 53, passes through locating module first 54 determine operating position, and issue instruction to single-chip microcomputer 55;The control universal wheel 2 of single-chip microcomputer 55 is moved, and reaches specified location, Proceed by the work that mops floor:Expansion link motor 36 makes expansion link be moved inside flexible rod sleeve 35, below expansion link Hair drags 23 to also drop down into arrival hair and drags the position that can be touched with ground, and now the water in water tank 38 is flowed by shower nozzle 40 Enter in receiving device to hair collection, hairbrush is soaked progress and work with wiping;Mop floor after the completion of work, hair drags wring-out device 24 to start work Make, extract the water during hair is dragged, hair drags wring-out device 24 while the water that storage leaves during wringing out, will be many by water absorber 39 Remaining water is recovered among filter 34 by water pipe, and water is filtered and flow back into water tank 38 by filter 34 again, makes water It can reuse, while being also equipped with second level sensor in water tank 38, monolithic can be passed through when water reaches low water level Water above the control machine people of machine 55 in humidifier apparatus 8 is flowed among water tank 38 by the water pipe I 32 of the side of support bar 5, It is supplied to hair to drag 23 to proceed work.
When robot is cleaned and mopped floor work, single-chip microcomputer 55 can be rotated up the left and right two-arm of robot, hand Holding level and upper surface level, carry out blocking protection, it is to avoid collision obstacle causes to damage to humidifier warning device 9.
When user completes to clean the work mopped floor, it is desirable to which when being purified to room air, single-chip microcomputer 55 can make robot Left and right two-arm move downward, the horizontal abutment of manipulator 7 is in ground, and large arm 4, forearm 6 keep perpendicular to the ground by robot Body is erected, and forms the potted plant moulding put, while the control humidifier of single-chip microcomputer 55 motor 81 makes humidifier start working, when adding When water level in wet device is too low, humidifier level sensor 82 can be such that the color of warning device 9 for the side of being connected thereto is become by green For yellow.Warning device 9 is blade shape, and yellow also represents plant hydropenia, and reminding user to add water thereto in time makes humidifier Can be with normal work.
A kind of mobile phone A PP controls Multifunctional cleaning machine people of the present invention, it is simple and reasonable, it can be controlled by mobile phone A PP Multifunctional cleaning machine people moves in room, the function of cleaning, mop floor is completed, while can also pass through built-in humidifier pair Room is humidified, and when humidifier works, robot can be with changing modeling, while serving the effect in decoration room, it is adaptable to Household cleaning, while also having the advantages that energy-conserving and environment-protective, is suitable for the application of popularization.
Above in association with accompanying drawing to the present invention embodiment be explained in detail, but the present invention be not limited to it is above-mentioned Embodiment, can also be before present inventive concept not be departed from the knowledge that those of ordinary skill in the art possess Put that various changes can be made.

Claims (8)

1. a kind of mobile phone A PP controls Multifunctional cleaning machine people, it is characterised in that:Including control device, chassis(1), universal wheel (2), robot shells(3), large arm(4), forearm(6), hand(7), support(31), expansion link(33), flexible rod sleeve(35), stretch Contracting bar motor(36), water tank(38), shower nozzle(40), dust receiver(41), hand controlled motor(42), universal wheel chassis(21)、 Hairbrush(22), hair drags(23), hair drag wring-out device(24);
Described support(31)It is fixed on chassis(1)Top, including perpendicular to chassis(1)The vertical portion of upper surface and parallel to Chassis(1)The horizontal component of upper surface;Universal wheel chassis(21)It is fixed on chassis(1)Lower section, universal wheel(2)It is fixed on universal wheel Chassis(21)Lower section;Flexible rod sleeve(35)It is fixed on parallel to chassis(1)The support of upper surface(31)On, expansion link(33)Put In flexible rod sleeve(35)Inside, expansion link motor(36)It is fixed on perpendicular to chassis(1)The support of upper surface(31)Upper surface And and expansion link(33)Top is connected, water tank(38)It is fixed on by fixed support block and chassis(1)The vertical support in upper surface (31)On;Chassis(1)On be respectively equipped with a mao collection receive device, hairbrush store device, shower nozzle(40)Hair is fixed on to drag(23)Top Hair collection receive on device, and with top water tank(38)Mutually it is fixedly connected;Dust receiver(41) it is fixed on hairbrush(22)Top Hairbrush store device upper surface, hair drags wring-out device(24)Dragged with hair(23)Connection, is dragged for wringing out hair(23), hair drags (23), hairbrush(22)Respectively with expansion link(33)Connection;Large arm(4)It is fixed on robot shells(3)Two ends sponson, forearm (6) it is fixed on large arm(4)One end, manipulator(7)It is fixed on forearm(6) one end, hand controlled motor(42)Be fixed on on chassis The support of surface level(31)On, described control device includes mobile phone A PP transmitter modules(52), Bluetooth receptions module(53)、 Locating module(54), single-chip microcomputer(55), mobile phone A PP transmitter modules(52)On user mobile phone, Bluetooth receptions module(53)、 Locating module(54), expansion link motor(36)Positioned at robot shells(3)Inside, universal wheel(2), hand controlled motor(42), stretch Contracting bar motor(36)And single-chip microcomputer(55)Connection.
2. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 1, it is characterised in that:Also include adding Wet device device(8), support bar(5), water pipe I(32), filter(34), water pipe II(37), water absorber(39), humidifier electricity Machine(81);
Described support bar(5)Lower end is fixedly connected on chassis(1)Center, upper end connection humidifier apparatus(8), water suction dress Put(39)Hair is fixed on to drag(23)The hair collection of top is received on device and drags wring-out device with hair(24)Connection, water pipe II(37)One End and water absorber(39)It is connected, the other end and filter(34)A water inlet be connected;Water pipe I(32)One end and filtering Device(34)Another water inlet be connected, the other end passes through support bar(5)With humidifier apparatus(8) it is connected;Filter (34)It is fixed on water tank(38)Top and its delivery port and water tank(38)Connection, humidifier motor(81)Installed in humidifier dress Put(8) interior and and single-chip microcomputer(55)Connection.
3. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 2, it is characterised in that:Also include report Alarm device(9), level sensor(82)Installed in humidifier apparatus(8) it is internal, for detecting humidifier apparatus(8) internal water Position, warning device(9)Positioned at humidifier apparatus(8) top and and level sensor(82)Connection.
4. a kind of mobile phone A PP control Multifunctional cleaning machine people according to claim any one of 1-3, it is characterised in that: Described support(31)Horizontal component be M shape support, chassis(1)It is surrounded by two hairbrush and stores device and two hairs Device, hairbrush are received in collection(22), hair drags(23)Quantity be two, two hairbrush store devices with support bar(5)For axle pair Claim distribution and arrive support bar(5)Distance it is equal, two hair collections receive device with support bar(5)It is distributed for axial symmetry and arrives support Bar(5)Distance it is equal.
5. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 4, it is characterised in that:Described ten thousand To wheel chassis(21)Device, hair collection, which are stored, with hairbrush receives device in same level position.
6. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 3, it is characterised in that:Work as hairbrush (22), hair drags(23)During work, single-chip microcomputer(55)By controlling hand controlled motor(42)Make manipulator(7)Shelter from humidifier dress Put(8) warning device above(9);Work as humidifier apparatus(8) work, hairbrush(22), hair drags(23)When not working, single-chip microcomputer (55)By controlling hand controlled motor(42)Make manipulator(7)Ground is supported, robot is integrally rendered as potted plant form.
7. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 3, it is characterised in that:Described report Alarm device(9)For the alarm of leaf-shaped, color is changed according to water level height.
8. a kind of mobile phone A PP controls Multifunctional cleaning machine people according to claim 2, it is characterised in that:Described water Case(38)Inside it also is provided with and single-chip microcomputer(55)Second level sensor of connection.
CN201710290572.1A 2017-04-28 2017-04-28 A kind of cell phone application control Multifunctional cleaning machine people Active CN107028560B (en)

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CN107457790A (en) * 2017-08-16 2017-12-12 潘灵灵 A kind of multifunctional domestic sweeping robot
CN108498020A (en) * 2018-06-27 2018-09-07 芜湖易泽中小企业公共服务股份有限公司 A kind of floor-mopping robot
CN108634873A (en) * 2018-04-10 2018-10-12 佛山市人和科技有限公司 A kind of economic and environment-friendly life cleaning device
CN109363586A (en) * 2018-12-26 2019-02-22 江苏美的清洁电器股份有限公司 Sweeping robot and its communication means, device and system and mobile terminal
CN109458674A (en) * 2018-09-30 2019-03-12 南昌大学 A kind of intelligent domestic humidity control apparatus
CN110567983A (en) * 2019-09-09 2019-12-13 深圳市三宝创新智能有限公司 Method and system for detecting appearance problem of robot

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* Cited by examiner, † Cited by third party
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CN107457790A (en) * 2017-08-16 2017-12-12 潘灵灵 A kind of multifunctional domestic sweeping robot
CN108634873A (en) * 2018-04-10 2018-10-12 佛山市人和科技有限公司 A kind of economic and environment-friendly life cleaning device
CN108498020A (en) * 2018-06-27 2018-09-07 芜湖易泽中小企业公共服务股份有限公司 A kind of floor-mopping robot
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CN110567983B (en) * 2019-09-09 2022-05-10 深圳市三宝创新智能有限公司 Method and system for detecting appearance problem of robot

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