CN108294692A - A kind of intelligent domestic cleaner device people - Google Patents
A kind of intelligent domestic cleaner device people Download PDFInfo
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- CN108294692A CN108294692A CN201810057282.7A CN201810057282A CN108294692A CN 108294692 A CN108294692 A CN 108294692A CN 201810057282 A CN201810057282 A CN 201810057282A CN 108294692 A CN108294692 A CN 108294692A
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- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4036—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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent domestic cleaner device people, belong to field in intelligent robotics；It is made of left side brush mechanism 1, the right brush mechanism 7, rolling brush mechanism 2, chassis 3, walking mechanism 4, universal wheel 6, dust collection mechanism 5 and control system.Control system includes master control system, actuating motor system, sensing system, liquid crystal display systems, power-supply system and path covering algorithm；It is controlled by control system and realizes robot parameter setting, functions, the path covering algorithm such as self detection of robot clean algorithm using ploughing formula, substantially increase the cleaning speed and sweeping efficiency of sweeping robot.Compared with existing household sweeping robot, the mechanical structure for the sweeping robot that the present invention designs more simply, is more easily realized.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to a kind of intelligent domestic cleaner device people.
Background technology
With science and technology be constantly progressive, intelligent robot technology grow rapidly, wherein service humanoid robot gradually at
For the research object of scientist.With fastest developing speed in service robot is sweeping robot, sweeping robot merged mechanics,
Multiple subjects such as electronics, control technology, computer technology combine the mobile technology of robot and the dust suction technology of dust catcher
Together, belong to the product of multi-crossed disciplines.The appearance of household sweeping robot mainly has three big reasons：First, labor cost
Rising；Second is that the mankind want to break away from manual labor dry as dust, such as cleaning, housework, attend to the patient；Third, the old-age group of population
Change and the perfect of the social welfare system also provides extensive market application prospect for certain service robots.Household sweeping machine
The research and development of people realize the intelligence of household, and are conducive to the development of other the relevant technologies.
Although sweeping robot has come into market, the price of sweeping robot and many core technologies still restrict
The universal of sweeping robot.Therefore, it is necessary to develop go out to clean the Intelligent sweeping machine device people that speed is fast, sweeping efficiency is high.
Invention content
It is an object of the invention to be directed to existing sweeping robot there are the problem of, design it is a kind of it is simple in structure, price is low
Honest and clean, the cleaning Intelligent sweeping machine device people that speed is fast and sweeping efficiency is high.
The object of the present invention is achieved like this：
A kind of intelligent domestic cleaner device people, which is characterized in that including left side brush mechanism 1, the right brush mechanism 7, roller plastering machine
Structure 2, chassis 3, walking mechanism 4, universal wheel 6, dust collection mechanism 5 and control system；Left side brush mechanism 1, the right brush mechanism 7；Wherein,
Universal wheel 6 is mounted on 3 central axes forefront of chassis, after left side brush mechanism 1 is symmetrically mounted on universal wheel 6 with the right brush mechanism 7, rolling
Brush mechanism 2 is mounted on after left side brush mechanism 1 and the right brush mechanism 7；Walking mechanism 4 is symmetrically mounted on after rolling brush mechanism 2；It inhales
Dirt mechanism 5 is mounted on after walking mechanism 4, and dust absorption passage leads to rolling brush mechanism 2 by chassis axle center.
The Bian Shua mechanisms are rotating mechanism, including side brush motor 101, hexagonal shaft coupling 102, holding screw 103, interior
Hex screw 104 and side brush 105；The side brush is fan-shaped diverging hairy, and it is that interior hexagon is recessed that pedestal profiles, which are among circle,
Slot, center are bolt installation through-hole, and side brush 105 is installed on hexagonal shaft coupling 102 by soket head cap screw 104, is then led to
Cross holding screw 103 by while brush 105 be installed to while brush motor 101 installation axle on.
The rolling brush mechanism 2 is rotating mechanism, including round brush motor 201, electric machine support 202, shaft coupling 203, clamp screw
Nail 204, bearing 205, round brush main shaft 206, round brush 207 and bearing block 208；It is characterized in that, the electric machine support 202 uses spiral shell
Nail is fixed on chassis 3, is connected by screw between round brush motor 201 and electric machine support 202, electric machine support 202 and round brush master
It is connected by shaft coupling 203 between axis 206, it is fixed with holding screw 204 between round brush motor shaft and round brush main shaft and shaft coupling 203
Position, round brush main shaft are interference fit between round brush main shaft and round brush 207 on bearing block 208 by 205 frame of bearing.
The walking mechanism 4 includes left walking mechanism 41, right walking mechanism 42, wherein left walking mechanism 41, right vehicle with walking machine
Structure 42 is symmetrically mounted on 3 central axes both sides of chassis；The drive wheel mechanism includes driving wheel 401, holding screw 402, driving wheel
Motor 403, electric machine support 404, screw 405, bolt 406 and pedestal 407；Wherein driving wheel motor 403 and electric machine support 404 it
Between connected by screw 405, electric machine support is fixed by bolt 406 and pedestal 407, between driving wheel 401 and driving wheel motor
It is connected by holding screw 402.
The dust collection mechanism 5 includes end cover of fan 501, blower motor 502, holding screw 503, fan blade 504, filter
Dirt net 505, soket head cap screw 506 and dust storage tank 507；It is furnished with dirt filtrating screen 505 wherein between end cover of fan 501 and dust storage tank 507,
And connected by soket head cap screw 506, it is connected by holding screw 503 between blower motor 502 and fan blade 504.
The control system includes master control system, actuating motor system, sensing system, liquid crystal display systems, power supply system
System and path covering algorithm, a kind of intelligent domestic cleaner device people, it is characterised in that：The master controller is selected
STM32 microcontrollers, actuating motor system include side brush motor, round brush motor and driving wheel motor, and sensing system includes avoidance
Sensor, dirt storehouse expire detection sensor and Temperature and Humidity sensor, and path covering algorithm cleans algorithm using ploughing formula；Its side
Method is realized as follows：
Step 1：Booting carries out just infrared obstacle avoidance, the initialization such as voltage detection module, then starts to detect sweeping robot
Cell voltage；If cell voltage is low to then follow the steps 14, step 2 is otherwise executed；
Step 2：Entered function selection mode executes step 3 if pushing button 1；If pushing button 2, execute
Step 4；If pushing button 3, five are thened follow the steps；
Step 3：Set robot current display time；It is then return to step 2；
Step 4：Sweeping robot executes infrared obstacle avoidance detection, dirt storehouse is completely detected, vacantly detect, surveys subprogram along frontier inspection；
If detecting brownout in the process of implementation, 14 are thened follow the steps；
Step 5：Dirt storehouse is completely detected, and to carrying out the initialization of infrared sensor, then sets alarm threshold value；Then it senses
Device carries out dust-full detection, obtains a numerical value by the processing of microcontroller, the alarm threshold value of this numerical value and setting is compared, such as
Fruit overflows, and alarms, if the numerical value being calculated is not above the threshold value of setting, thens follow the steps six；
Step 6：Closed edge brush, round brush, dust sucting motor start driving wheel motor；Execute linear correction program, then into
Enter to prolong side learning algorithm；Continue to detect if not pressing stop key, return to step two after the detection program that is finished；If
Stop key is pressed, then same return to step two；
Step 7：The detection of opening infrared obstacle avoidance, dirt storehouse completely detect, vacantly detect and return to the interruption of charging station subprogram, such as
Fruit brownout thens follow the steps 14, otherwise executes step 8
Step 8：Execution route covering algorithm, sweeping robot is since indoor certain point, first straight-line travelling, simultaneously
Detection cell voltage thens follow the steps 14 if cell voltage is too low；If voltage is normal, continue to keep straight on, until front passes
Sensor detects obstacle, thens follow the steps nine；
Step 9：If sweeping robot avoidance sensor detects that there is obstacle on right side, step 10 is executed, if clearly
It sweeps robot obstacle-avoiding sensor and does not detect that there is obstacle on right side, then executing step 12；
Step 10：Sweeping robot turns left 90 °, and keep straight on distance L, then turns left 90 °, and sweeping robot straight trip detects machine
There is clear in people right, if there is thening follow the steps nine, if judging whether there is obstacle in front of robot without if；Work as front
It has detected that obstacle, sweeping robot are turned right 90 °, distance of then keeping straight on L, has been further continued for turning right 90 °, sweeping robot continues straight
Row；
Step 11：It detects whether to press stop key, if pressing stop key, closes the power supply of all motors and return
Step 4, if not thening follow the steps ten；
Step 12：Sweeping robot is first turned right 90 °, and keep straight on distance L, is further continued for turning right 90 °, sweeping robot linear rows
It walks, there is clear in detection robot right, if there is thening follow the steps nine, otherwise until front has detected obstacle, cleans
Robot turns left 90 °, distance of then keeping straight on L, then turns left 90 °, and sweeping robot continues to keep straight on；
Step 13：It detects whether to press stop key, if pressing stop key, closes the power supply of all motors and return
Step 2, if not thening follow the steps 12；
Step 14：Into navigation docking procedure, the program of all working motor is closed；
Step 15：It closes power supply and terminates.
The control system of household sweeping robot includes master control system, actuating motor system, sensing system, liquid crystal display
System, power-supply system and path covering algorithm.Master controller selects STM32 microcontrollers, the chip to have abundant pin resource,
Arithmetic speed is fast, and execution efficiency is high.Actuating motor system includes side brush motor, round brush motor and driving wheel motor.Sensor system
System, which includes avoidance sensor, dirt storehouse, expires detection sensor and Temperature and Humidity sensor etc..Path covering algorithm uses ploughing formula
Algorithm is cleaned, the algorithm is simple, easy to implement.
Patent advantage of the present invention is：
A kind of intelligent domestic cleaner device people provided by the invention mainly solve traditional sweeping robot clean speed it is slow,
The low problem of sweeping efficiency, structure is simpler, and control is more flexible, more adaptable.
Description of the drawings
Fig. 1 overall construction drawings；
Tu2Bian Shua mechanisms installation diagram；
Fig. 3 roller brushes structure installations diagram；
Fig. 4 drive wheel mechanism installations diagram；
Fig. 5 dust collection mechanism installations diagram；
Fig. 6 control system architecture figures；
Fig. 7 main program flow charts；
Fig. 8 laterally cleans algorithm schematic diagram；
Fig. 9 longitudinally cleans algorithm schematic diagram；
Figure 10 cleans algorithm routine flow chart；
Completely detect program flow diagram in Figure 11 dirt storehouse；
Figure 12 Temperature and Humidity program flow diagrams.
Specific implementation mode
It is for a more detailed description to the present invention below in conjunction with the accompanying drawings：
The object of the present invention is achieved like this：The mechanical structure of intelligent domestic cleaner device people provided by the invention is main
By left side brush mechanism 1, the right brush mechanism 7, rolling brush mechanism 2, chassis 3, walking mechanism 4, universal wheel 6, dust collection mechanism 5 and control system
System composition；
Bian Shua mechanisms are rotating mechanism, including side brush motor 101, hexagonal shaft coupling 102, holding screw 103, interior hexagonal spiral shell
Nail 104 and side brush 105.
Rolling brush mechanism is rotating mechanism, including round brush motor 201, electric machine support 202, shaft coupling 203, holding screw 204,
Bearing 205, round brush main shaft 206, round brush 207 and bearing block 208.
The walking mechanism 4 includes left walking mechanism 41, right walking mechanism 42, and front-wheel is universal wheel, by controlling left and right
The straight line moving of sweeping robot may be implemented in the speed of two-wheeled and left and right is turned.Drive wheel mechanism includes driving wheel 401, tightening
Screw 402, driving wheel motor 403, electric machine support 404, screw 405, bolt 406 and pedestal 407.
Dust collection mechanism includes end cover of fan 501, blower motor 502, holding screw 503, fan blade 504, dirt filtrating screen
505, soket head cap screw 506 and dust storage tank 507.
The control system of household sweeping robot includes master control system, actuating motor system, sensing system, liquid crystal display
System, power-supply system and path covering algorithm.Master controller selects STM32 microcontrollers, the chip to have abundant pin resource,
Arithmetic speed is fast, and execution efficiency is high.Actuating motor system includes side brush motor, round brush motor and driving wheel motor.Sensor system
System, which includes avoidance sensor, dirt storehouse, expires detection sensor and Temperature and Humidity sensor etc..Path covering algorithm uses ploughing formula
Algorithm is cleaned, the algorithm is simple, easy to implement.
As shown in Figure 1, Bian Shua mechanisms 1, rolling brush mechanism 2, walking mechanism 4 and dust collection mechanism 5 are bolted on chassis 3
On.
As shown in Fig. 2, while brush motor 101 by hexagonal shaft coupling 102 with while brush 105 and be connected, side brush motor joins with hexagonal
It is positioned by holding screw 103 between axis device, is fixed by soket head cap screw 104 between hexagonal shaft coupling and side brush.Side brush electricity
Machine rotates, and drives side brush rotation, to realize the cleaning action at left and right sides of sweeping robot.
As shown in figure 3, rolling brush mechanism is rotating mechanism, electric machine support 202 is screwed on chassis, round brush motor
It is connected by screw, is connected by shaft coupling 203 between round brush motor and round brush main shaft 206, round brush between 201 and electric machine support
It is positioned with holding screw 204 between motor shaft and round brush main shaft and shaft coupling, round brush main shaft is by 205 frame of bearing in bearing block
It is interference fit between round brush main shaft and round brush 207 on 208.Round brush motor rotates, and drives round brush rotation, is cleaned to realize
Cleaning action immediately below robot.
As shown in figure 4, being connected by screw 405 between driving wheel motor 403 and electric machine support 404, electric machine support passes through
Bolt 406 is fixed with pedestal 407, is connected by holding screw 402 between driving wheel 401 and driving wheel motor.It is driven by controlling
The rotating speed of driving wheel motor can control the straight line moving of sweeping robot and left and right is turned.
As shown in figure 5, being furnished with dirt filtrating screen 505 between end cover of fan 501 and dust storage tank 507, and pass through four interior hexagonal spiral shells
506 connection of nail, is connected between blower motor 502 and fan blade 504 by holding screw 503.Blower motor rotates, and generates gas
Stream, dust rubbish is sucked in, due to the presence of dirt filtrating screen, dust rubbish is blocked in dust storage tank, to reach dust suction
Purpose.
As shown in fig. 6, master control system is mainly used to handle the signal of various sensor acquisitions and control motor, hold
Row electric system includes driving wheel motor, side brush motor and dust sucting motor etc., and sensing system is mainly used to acquire ambient enviroment
The functions such as information realization avoidance, most importantly IR evading obstacle sensors in sensing system, before handling sweeping robot
The collected signal value of the infrared sensor of left and right four direction afterwards, it can be determined that go out the position of barrier.Liquid crystal display systems
Primarily to preferably carrying out human-computer interaction, liquid crystal display can show the parameter value and sweeping robot of each sensor
Working condition, while people can also modify parameter by liquid crystal display and setting operations, the power-supply system such as speed are clear
The modules for sweeping robot provide power.
As shown in fig. 7, sweeping robot carry out first be initialization, then start detect sweeping robot battery electricity
Pressure, if cell voltage is too low, sweeping robot closes power supply, and stops the work of all motors.If sweeping machine
The cell voltage of people is maintained in normal range, then entered function selection mode.If pushing button 1, can repair
Change some basic parameters of sweeping robot；If pushing button 2, sweeping robot is executed along side learning algorithm, herein
In the process, sweeping robot executes infrared obstacle avoidance detection, dirt storehouse is completely detected, vacantly detects, along subprograms such as frontier inspection surveys, does not execute
Path covering algorithm；If pushing button 3, sweeping robot execution route covering algorithm carries out plough cleaning, this process
Sweeping robot executes infrared obstacle avoidance detection, dirt storehouse is completely detected, vacantly detects and return charging station subprogram.Stop when detecting
After key is pressed, sweeping robot is stopped, and does not detect that stopping key pressing, sweeping robot work on.
As shown in Figure 8 and Figure 9, ploughing formula cleaning algorithm is divided into transverse type ploughing cleaning algorithm and Longitudinal ploughing is cleaned and calculated
Method, sweeping robot take certain to clean algorithm or the combination of both algorithms according to different environment.
As shown in Figure 10, several core procedures can be resolved by cleaning algorithm：
1. sweeping robot is since indoor certain point, first straight-line travelling, while detecting cell voltage, if battery is electric
Press through it is low, then closing power supply.If voltage is normal, continue to keep straight on, until upfront sensor detects obstacle, sweeping robot
Stop, judging next step route；
2. if sweeping robot avoidance sensor detects that there is obstacle on right side, 3 are executed, if sweeping robot is kept away
Barrier sensor does not detect that there is obstacle on right side, then executing 5；
3. sweeping robot turns left 90 °, keep straight on distance L, then turns left 90 °, sweeping robot straight trip, until front detects
There are obstacle, sweeping robot to turn right 90 °, distance of then keeping straight on L, is further continued for turning right 90 °, sweeping robot continues to keep straight on, and
Judge whether front has obstacle；
4. if front detects obstacle, step 3 is executed, if not detecting obstacle without front, clearly
It sweeps robot and constantly continues whether detection front obstacle occurs；
5. sweeping robot is first turned right 90 °, keep straight on distance L, is further continued for turning right 90 °, sweeping robot straight line moving, until
Front has detected obstacle, and sweeping robot turns left 90 °, distance of then keeping straight on L, then turns left 90 °, and sweeping robot continues straight
Row, and judge whether front has obstacle；
6. if front detects obstacle, step 5 is executed, if not detecting obstacle without front, clearly
It sweeps robot and constantly continues whether detection front obstacle occurs.
As shown in figure 11, the initialization that program carries out infrared sensor first is completely detected in dirt storehouse, then sets alarm threshold value,
This alarm threshold value is the threshold value that ash is dust-full in dust storage tank, is used as alarm.Then sensor is detected, by the calculating of microcontroller
It handles and obtains a numerical value, the alarm threshold value of this numerical value and setting is compared, and notes that user pays attention to dedusting if overflowed, such as
The numerical value that fruit is calculated is more than that the threshold value not set repeats the above steps then sensor continues to detect.
As shown in figure 12, what Temperature and Humidity carried out first is the initialization of sensor, can be with by the initialization of DHT11
Judge that sensor whether there is.If program initialization fails, illustrate Temperature Humidity Sensor irregular working, closes electricity
Source, this EP (end of program).If program initialization success, start to acquire, after acquisition data of the Temperature and Humidity module by microcontroller I/O mouths
It is incoming, it after microcontroller calculation processing and shows, continues to acquire after the 100ms that is delayed.
The sweeping robot of the present invention can be realized according to indoor environment automatic obstacle-avoiding, it is autonomous clean, mechanism is simple, valence
Lattice are cheap, are easily achieved, and have vast potential for future development.
Claims (6)
1. a kind of intelligent domestic cleaner device people, which is characterized in that including left side brush mechanism (1), the right brush mechanism (7), round brush
Mechanism (2), chassis (3), walking mechanism (4), universal wheel (6), dust collection mechanism (5) and control system；Left side brush mechanism (1), the right side
Bian Shua mechanisms (7)；Wherein, universal wheel (6) is mounted on chassis (3) central axes forefront, left side brush mechanism (1) and the right brush mechanism
(7) after being symmetrically mounted on universal wheel (6), rolling brush mechanism (2) is mounted on after left side brush mechanism (1) and the right brush mechanism (7)；Row
Mechanism (4) is walked to be symmetrically mounted on after rolling brush mechanism (2)；Dust collection mechanism (5) is mounted on after walking mechanism (4), dust absorption passage
Lead to rolling brush mechanism (2) by chassis axle center.
2. a kind of intelligent domestic cleaner device people according to claim 1, which is characterized in that the Bian Shua mechanisms are rotation
Rotation mechanism, including while brush motor (101), hexagonal shaft coupling (102), holding screw (103), soket head cap screw (104) and while brush
(105)；The side brush is fan-shaped diverging hairy, and it is interior hex-shaped recess that pedestal profiles, which are among circle, and center is pacified for bolt
Through-hole is filled, side brush (105) is installed on hexagonal shaft coupling (102) by soket head cap screw (104), then passes through holding screw
(103) by while brush (105) be installed to while brush motor (101) installation axle on.
3. a kind of intelligent domestic cleaner device people according to claim 1, which is characterized in that the rolling brush mechanism (2) is
Rotating mechanism, including round brush motor (201), electric machine support (202), shaft coupling (203), holding screw (204), bearing (205),
Round brush main shaft (206), round brush (207) and bearing block (208)；It is characterized in that, the electric machine support (202) is screwed
It on chassis (3), is connected by screw between round brush motor (201) and electric machine support (202), electric machine support (202) and round brush
It is connected by shaft coupling (203) between main shaft (206), tightening is used between round brush motor shaft and round brush main shaft and shaft coupling (203)
Screw (204) position, round brush main shaft by bearing (205) frame on bearing block (208), between round brush main shaft and round brush (207)
For interference fit.
4. a kind of intelligent domestic cleaner device people according to claim 1, which is characterized in that walking mechanism (4) packet
Containing left walking mechanism (41), right walking mechanism (42), wherein left walking mechanism (41), right walking mechanism (42) are symmetrically mounted on bottom
Disk (3) central axes both sides；The drive wheel mechanism include driving wheel (401), holding screw (402), driving wheel motor (403),
Electric machine support (404), screw (405), bolt (406) and pedestal (407)；Wherein driving wheel motor (403) and electric machine support
(404) connected by screw (405) between, electric machine support is fixed by bolt (406) and pedestal (407), driving wheel (401) with
It is connected by holding screw (402) between driving wheel motor.
5. a kind of intelligent domestic cleaner device people according to claim 1, which is characterized in that the dust collection mechanism (5)
Including end cover of fan (501), blower motor (502), holding screw (503), fan blade (504), dirt filtrating screen (505), interior six
Angle screw (506) and dust storage tank (507)；It is furnished with dirt filtrating screen (505) wherein between end cover of fan (501) and dust storage tank (507), and
It is connected by soket head cap screw (506), between blower motor (502) and fan blade (504) even by holding screw (503)
It connects.
6. a kind of intelligent domestic cleaner device people according to claim 1, which is characterized in that the control system includes master
Control system, actuating motor system, sensing system, liquid crystal display systems, power-supply system and path covering algorithm, described one kind
Intelligent domestic cleaner device people, it is characterised in that：The master controller selection STM32 microcontrollers, actuating motor system include
Side brush motor, round brush motor and driving wheel motor, sensing system, which includes avoidance sensor, dirt storehouse, expires detection sensor and warm and humid
Detection sensor is spent, path covering algorithm cleans algorithm using ploughing formula；Its method is realized as follows：
Step 1：Booting carries out just infrared obstacle avoidance, the initialization such as voltage detection module, then starts the electricity for detecting sweeping robot
Cell voltage；If cell voltage is low to then follow the steps 14, step 2 is otherwise executed；
Step 2：Entered function selection mode executes step 3 if pushing button 1；If pushing button 2, then follow the steps
Four；If pushing button 3, five are thened follow the steps；
Step 3：Set robot current display time；It is then return to step 2；
Step 4：Sweeping robot executes infrared obstacle avoidance detection, dirt storehouse is completely detected, vacantly detect, surveys subprogram along frontier inspection；If
Brownout is detected in the process of implementation, thens follow the steps 14；
Step 5：Dirt storehouse is completely detected, and to carrying out the initialization of infrared sensor, then sets alarm threshold value；Then sensor into
The dust-full detection of row obtains a numerical value by the processing of microcontroller, and the alarm threshold value of this numerical value and setting is compared, if super
Value is then alarmed, if the numerical value being calculated is not above the threshold value of setting, thens follow the steps six；
Step 6：Closed edge brush, round brush, dust sucting motor start driving wheel motor；Linear correction program is executed, subsequently into prolonging
Side learning algorithm；Continue to detect if not pressing stop key, return to step two after the detection program that is finished；If pressed
Stop key, then same return to step two；
Step 7：The detection of opening infrared obstacle avoidance, dirt storehouse completely detect, vacantly detect and return to the interruption of charging station subprogram, if electric
Press through it is low then follow the steps 14, otherwise execute step 8
Step 8：Execution route covering algorithm, since indoor certain point, first straight-line travelling detects sweeping robot simultaneously
Cell voltage thens follow the steps 14 if cell voltage is too low；If voltage is normal, continue to keep straight on, until upfront sensor
It detects obstacle, thens follow the steps nine；
Step 9：If sweeping robot avoidance sensor detects that there is obstacle on right side, step 10 is executed, if scavenging machine
Device people's avoidance sensor does not detect that there is obstacle on right side, then executing step 12；
Step 10：Sweeping robot turns left 90 °, and keep straight on distance L, then turns left 90 °, sweeping robot straight trip, and detection robot is right
There is clear in side, if there is thening follow the steps nine, if judging whether there is obstacle in front of robot without if；When front is detected
To having obstacle, sweeping robot to turn right 90 °, distance of then keeping straight on L, it is further continued for turning right 90 °, sweeping robot continues to keep straight on；
Step 11：It detects whether to press stop key, if pressing stop key, closes the power supply and return to step of all motors
Four, if not thening follow the steps ten；
Step 12：Sweeping robot is first turned right 90 °, and keep straight on distance L, is further continued for turning right 90 °, sweeping robot straight line moving,
There is clear in detection robot right, if there is thening follow the steps nine, otherwise until front has detected obstacle, sweeping machine
People turns left 90 °, distance of then keeping straight on L, then turns left 90 °, and sweeping robot continues to keep straight on；
Step 13：It detects whether to press stop key, if pressing stop key, closes the power supply and return to step of all motors
Two, if not thening follow the steps 12；
Step 14：Into navigation docking procedure, the program of all working motor is closed；
Step 15：It closes power supply and terminates.
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| CN108294692B (en) | 2021-04-06 |
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