CN108478119A

CN108478119A - The wood floors cleaning oil pollution sweeping robot of detection characteristic is judged with greasy dirt area

Info

Publication number: CN108478119A
Application number: CN201810530960.7A
Authority: CN
Inventors: 秦海军
Original assignee: Mianyang Fu Gen Technology Co Ltd
Current assignee: Mianyang Fu Gen Technology Co Ltd
Priority date: 2018-05-29
Filing date: 2018-05-29
Publication date: 2018-09-04

Abstract

The invention discloses with greasy dirt area judge detection characteristic wood floors cleaning oil pollution sweeping robot, the present invention be is completed under the working in coordination of three core designs 2 times cleaning, first using bi-motor rotation, be conducive to oil rub resistance adhesive force the problem of.Second uses the cleaning rod of cavernous body and cotton body, and using sponge sucks in water, cotton fibre is liable to stick on clc layer, and switchs to particle shape after allowing cotton fibre to be attached to greasy dirt when cleaning.Third uses double water sprays of time interval so that rear layer greasy dirt corresponds to high-temperature water, and thin layer greasy dirt corresponds to water at low temperature, avoids the problem that floor temperature distortion.Using circular design, while upper layer central motor (22), air pump are coaxially located at center location, and total is integral into centrosymmetric design so that when its autobiography, more steadily.

Description

The wood floors cleaning oil pollution sweeping robot of detection characteristic is judged with greasy dirt area

Technical field

The present invention relates to family's cleaning equipment fields, and in particular to the wood floors oil with greasy dirt area judgement detection characteristic Dirt cleaning sweeping robot.

Background technology

With the development of science and technology sweeping robot is already common intelligent home equipment, existing sweeping robot master Will be by shell, power supply, give a dinner of welcome particle rubbish containing cavities, motor in shell, and the cleaning part positioned at object bottom Composition.

In the home environment, usually there are 2 class floors, one is tile floor, one is wood floors, and domestic households are drunk Dietary habits is substantially heavy oil diet, therefore oil smoke is deposited to after being dispersed into air on floor when preparing diet, while in parlor When having a meal, also can some greasy dirts fall on floor, and when oil is attached on tile floor, the modes such as liquid detergent may be used just It can easily remove, but since wood floors have stronger adsorption capacity, there is part greasy dirt to be very difficult to remove, therefore, with The increase of time will often form thicker grease on wood floors, and with the increase of dust and time, grease is often It is denaturalized, causes its grease that there is stronger viscosity, and existing sweeping robot is primarily directed to that granulated Rubbish can not effectively be cleaned particular for above-mentioned wood floors greasy dirt.

Invention content

The present invention can effectively clean wood floors greasy dirt region, and especially can effectively be directed to wood floors is denaturalized Greasy dirt area is effectively cleaned, to provide it is a kind of with greasy dirt area judgement detection characteristic wood floors cleaning oil pollution sweep the floor Robot.

The present invention is achieved through the following technical solutions：

The wood floors cleaning oil pollution sweeping robot of detection characteristic is judged with greasy dirt area,

The wood floors cleaning oil pollution sweeping robot includes circular machine people's shell, is located in circular machine people's shell Greasy dirt detection clean control unit；

Circular machine people's shell is divided into upper layer circular shell and lower layer's circular shell, under the diameter of upper layer circular shell is more than The diameter of layer circular shell, is provided with support universal wheel on the circular shell of upper layer, lower layer's circular shell be located at support universal wheel it Between region, the bottom surface of upper layer circular shell is connected with the upper top surface of lower layer's circular shell,

Partition board is provided in the circular shell of upper layer, the upper layer of partition board is upper layer cavity, and the lower layer of partition board is two stage steps Cavity；

The center location of the upper layer cavity is fixedly installed rotary shaft end towards upper upper layer central motor；In two level It is provided with 1 two level water storage endless tube and 2 axis two level sparge pipe parallel to each other in stepped cavity, 2 two level sparge pipes Both ends are connected using two level water spray pipe valve with two level water storage endless tube simultaneously, axis and the two level water storage endless tube of 2 two level sparge pipes Non- diameter string overlap, be additionally provided with air pump between 2 two level sparge pipes, be provided on the two level water storage endless tube for injecting The two level water filling air injection pipe of 80-100 degrees Celsius of hot water and air, the two level water filling air injection pipe extend up to circular machine people Outside shell, two level water filling air injection pipe upper end is provided with plug, and 80-100 degrees Celsius of hot water is from two level water filling air injection pipe upper end to two Grade water filling air injection pipe injection is connected to by air induction conduit with the puff prot of air pump in the middle part of two level water filling air injection pipe, air by into Airway is injected to two level water filling air injection pipe；

Lower layer's circular shell inner wall is provided with the level-one step of circular ring shape, the upper layer of level-one step is that level-one step is empty The annular cavity of chamber, level-one step is bottom layer cavity；

It is provided with 1 level-one water storage endless tube and 1 level-one sparge pipe in the level-one stepped cavity, the two of level-one sparge pipe It holds while being connected with level-one water storage endless tube using level-one water spray pipe valve, the diameter of the axis and two level water storage endless tube of level-one sparge pipe String overlaps；The bottom of air pump is mounted on level-one sparge pipe, is provided on the level-one water storage endless tube and is taken the photograph for injecting 80-100 The level-one water filling air injection pipe of the hot water and air of family name's degree, the level-one water filling air injection pipe extend up to outside circular machine people's shell, Level-one water filling air injection pipe upper end is provided with plug, and 80-100 degrees Celsius of hot water is noted from level-one water filling air injection pipe upper end to level-one water filling Tracheae injects, and the middle part of level-one water filling air injection pipe is connected to by air induction conduit with the puff prot of air pump, and air passes through air induction conduit It is injected to level-one water filling air injection pipe；

There are one bottom motor or described of the rotary shaft end under for the center location fixed setting of the bottom layer cavity Bottom layer cavity is located at level-one sparge pipe axis two side areas and is fixedly installed bottom electricity of 1 rotary shaft end under respectively Machine.

The rotary shaft end of the bottom motor is connected with fixture, and the fixture is clamped at least 2 horizontally disposed seas Continuous cotton structure cleans rod；

It includes FPGA, current sensor, the relay of control two level water spray pipe valve, control that the greasy dirt detection, which cleans control unit, The relay of air pump processed, the relay of control level-one water spray pipe valve, relay, the control bottom motor for controlling upper layer central motor Relay, wherein current sensor accesses the input pin of FPGA, and No. 001 of FPGA output controlling switch is connected to control On the relay low-voltage control circuit of bottom motor, the power pins of bottom motor are connected on the relay of control bottom motor In high voltage control circuit, in the high voltage control circuit of the relay of current sensor setting control bottom motor；No. 002 of FPGA Output controlling switch is connected on the low-voltage control circuit of the relay of control upper layer central motor, and upper layer central motor power supply draws Foot is connected on the high voltage control circuit of the relay of control upper layer central motor；No. 003 output controlling switch connection of FPGA On the low-voltage control circuit that control two level sprays water the relay of pipe valve, the power pins of two level water spray pipe valve are connected on control two On the high voltage control circuit of the relay of grade water spray pipe valve；No. 004 output controlling switch of FPGA is connected to control level-one water spray On the low-voltage control circuit of the relay of pipe valve, two level water spray pipe valve power pins be connected on control level-one water spray pipe valve after On the high voltage control circuit of electric appliance；No. 005 output controlling switch of FPGA is connected to the low voltage control of the relay of control air pump On circuit, the power pins of air pump are connected on the high voltage control circuit of the relay of control air pump；

During cleaning, it is marked with 80-100 degrees Celsius of hot water in level-one water storage endless tube and two level water storage endless tube, also uses holder Structure configures on wood floors cleaning oil pollution sweeping robot, and the supporting structure is hemispheric support dome shell, described Support dome shell center extends downwardly the cantilever for being useful for suspension circular machine people's shell, cantilever lower end and upper layer central motor Rotary shaft end is clamped；Using the plastic suckers of the lower port setting of support dome shell, it is adsorbed on wood floors.

Wherein, the cleaning control method includes following procedure：

A, detection process step：

A1, after exporting high level using No. 001 output controlling switch of FPGA, the relay startup of bottom motor is controlled, Bottom electric motor starting, bottom motor drives sponge cotton structure to clean rod rotation, and entire wood floors cleaning oil pollution is driven to sweep Floor-washing robot is random in ground running under the support of support universal wheel, No. 002 output controlling switch of FPGA, FPGA No. 003 output controlling switch, No. 004 output controlling switch of FPGA, No. 005 output controlling switch of FPGA do not export high electricity It is flat；

Electric current on A2, current sensor continuous collecting bottom motor control loop circuit, and export to FPGA, work as FPGA The current signal of acquisition be by it is low switch to it is high switch to low again when, stop No. 001 output controlling switch output high level of FPGA；

B, installation step：

B1, after step A2, open plug, into two level water filling air injection pipe and level-one water filling air injection pipe inject 80-100 take the photograph Family name's degree hot water, then cover plug；

B2, after step B1, using supporting structure configuration on wood floors cleaning oil pollution sweeping robot, the holder Structure is hemispheric support dome shell, and the support dome shell center, which extends downwardly, is useful for suspension circular machine people's shell Cantilever, cantilever lower end and the rotary shaft end of upper layer central motor are clamped；Using the plastics of the lower port setting of support dome shell Sucker is adsorbed on wood floors；

C：Clean step：

No. 005 output controlling switch of C1, FPGA export high level, and control air pump starts；

No. 004 output controlling switch of C2, FPGA export high level, and control level-one water spray pipe valve is opened；

No. 001 output controlling switch of C3, FPGA export high level, No. 002 high electricity of output controlling switch output of FPGA Flat, upper layer central motor and bottom motor start simultaneously, and upper layer central motor drives wood floors cleaning oil pollution sweeping robot Autobiography, bottom motor drive sponge cotton structure to clean rod rotation；

After C4, X minutes, No. 001 output controlling switch of FPGA stops output high level, No. 002 output control of FPGA Pin stops output high level；

No. 003 output controlling switch of C5, FPGA export high level, and control two level water spray pipe valve is opened；

No. 001 output controlling switch of C6, FPGA export high level, No. 002 high electricity of output controlling switch output of FPGA Flat, upper layer central motor and bottom motor start simultaneously, and upper layer central motor drives wood floors cleaning oil pollution sweeping robot Autobiography, bottom motor drive sponge cotton structure to clean rod rotation.

The present invention design principle be：Under wood floors environment, due to existing wood floors be divided into solid wooden floor board and Particle timber floor, this two classes floor, especially particle timber floor have stronger adsorption capacity, therefore, when family has dinner, if Greasy dirt is accidentally trickled down, then can be adsorbed in timber floor rapidly, although can quickly wipe, still has the part greasy dirt to be difficult Removal, and as time increases, after unrestrained number increases, thicker grease will be often formed on wood floors, and As time increases, and since grease can aoxidize in cooking, can also form the substances such as acrylamide, with these oxygenated oils The accumulation of fat etc. its characteristics such as gelatinization etc. is not soluble in water often occur cause its grease to have with the exacerbation of denaturation degrees Stronger viscosity, and existing sweeping robot is primarily directed to the rubbish of that granulated, it can not be particular for above-mentioned wood Quality leaf fat dirt is effectively cleaned, even if also being difficult to effectively go using the mode of strength by the way of manpower using mop It removes.

Therefore, in order to solve the problems, such as the cleaning for being denaturalized greasy dirt on above-mentioned wood floors, the present invention is provided with 2 main portions Part, one is circular machine people, and one is supporting structure, cleaning when, circular machine people's integral hanging on supporting structure, Greasy dirt detection is carried out before cleaning, the detection of greasy dirt can voluntarily judge region with someone, and then the equipment assembly of the present invention exists Greasy dirt overlying regions can also be detected using machine, and specific detection mode further part is described in detail, and needed Before clearing up, circular machine people is first integrally placed into greasy dirt area by us, then will be supported in cantilever and upper layer in dome shell The rotary shaft end of electrocardiograph connects so that entire circular machine people suspension, and support the plastic suckers on dome shell can be secured Be adsorbed in timber floor, at this point, first open level-one water filling air injection pipe and two level water filling air injection pipe plug, injection 80-100 take the photograph The water of family name's degree, in water can also suitable addition detergent, then close plug, later, booster air pump, when cleaning is divided into 2 times Cleaning first starts the level-one water spray pipe valve on level-one sparge pipe, the high-temperature water in level-one water storage endless tube is allowed to export high pressure in air pump It is ejected on floor after flowing to level-one sparge pipe under the action of gas, starts upper layer central motor and bottom motor simultaneously at this time, Under the action of upper layer central motor of the present invention, entire circular machine people carries out autobiography, therefore this can be designed so that high-temperature water It is first directly contacted with floor surface, directly greasy dirt is allowed to soften, greasy dirt is allowed to be mixed with high-temperature water, cleaned at this time in sponge cotton structure Under the action of rod, sponge cotton structure, which cleans the cavernous body in rod, can absorb water, and cotton knows from experience absorption greasy dirt.

And since the output power of general family's sweeping robot is weaker, effect is cleaned to increase, the present invention uses upper State upper layer central motor and the rotation of bottom motor.Bottom motor is designed with 2 kinds of situations in the present invention, the first is by bottom Motor is fixed on the center location of bottom layer cavity, and bottom motor is identical with the rotation direction of upper layer central motor at this time.Second Be by 2 respectively bottom motor be fixed on the bottom layer cavity and be located at level-one sparge pipe axis two side areas, 2 bottom electricity at this time The rotation direction of machine is opposite, and upper layer central motor can be rotated and can not also be rotated or three motors in any direction at this time Any cooperation rotation, due to the rotation direction of 2 bottom motors be clc layer can be squeezed to center position on the contrary, while Under the rotation of upper layer central motor, particulate form is more readily formed by poststack in the clc layer being extruded.Bottom motor and bottom layer cavity Matching relationship be, by the shell of bottom motor by structural member be fixed to bottom layer cavity in.

Simultaneously because the present invention cleans rod using sponge cotton structure, structure includes cavernous body and cotton body group At wherein the cotton fibre in cotton body is easy, when the greasy dirt larger with viscosity contacts, to be adhered on clc layer, thus may be used To reduce its viscosity, under the shock of cavernous body, entire clc layer, which just will appear, to be layered and is gradually disengaged, and upper layer is fine with cotton The part of dimension will switch to particle shape, therefore be easy for clearing up.Clear up in order to prevent be not thorough and last remaining portion Greasy dirt is divided to be closest to wood floors surface layer, at this point, we send forth again using two level sparge pipe, two level sparge pipe opens Dynamic process is identical as the Starting mode of level-one sparge pipe, is all using after air pump pressurization, two level water spray pipe valve sprays after opening.Again During this, after the completion of once spraying water, and just start secondary water spray after the completion of primary cleaning, the endless tube of two level water storage at this time Water temperature is lower, which is provided with primary water spray and secondary water spray splitting time so that water temperature reduces, to can guarantee residual part When avoiding high-temperature water by floor deformation while the separation for dividing greasy dirt, and once spraying water, although using high-temperature water, due to having The barrier of greasy dirt, water directly can not be penetrated into rapidly in timber floor, and when secondary water spray, also greasy dirt, but the face in greasy dirt area Product and thickness are all smaller, if therefore the water that continues using high temperature spray water, timber floor can be seriously affected, timber floor is become Shape, therefore the present invention is when injecting early period, while injecting 80-100 degrees Celsius of water, therefore when can ensure to spray water for the first time, Temperature is high, can efficiently separate greasy dirt, when allowing greasy dirt to soften, and spraying water for the second time, water temperature is already reduced to 50 degree or so, therefore Large effect will not be caused to floor.

By above-mentioned analysis, the present invention be completed under the working in coordination of three core designs 2 times cleaning, first, use Motor arrangements, be conducive to oil rub resistance adhesive force the problem of.The second, the cleaning rod of cavernous body and cotton body is used, is utilized Sponge sucks in water, and cotton fibre is liable to stick on clc layer, and switchs to after allowing cotton fibre to be attached to greasy dirt when cleaning Particle shape.Third, the double water sprays for using time interval so that rear layer greasy dirt corresponds to high-temperature water, and thin layer greasy dirt corresponds to low temperature Water avoids the problem that floor temperature distortion.Simultaneously as the present invention use allow entire circular machine people's shell autobiography, also The viscous force for cleaning rod and being contacted with clc layer can be resisted using the revolution inertia that the weight of circular machine people itself generates, by In needing circular machine people's autobiography, the present invention is particularly by above structure level-one water storage endless tube, two level water storage endless tube using round Design, while upper layer central motor, air pump are coaxially located at center location, total is integral into centrosymmetric design so that When its autobiography, more steadily.

In addition, above-mentioned part only devises the scheme about the cleaning for how solving clc layer when knowing greasy dirt region, And it is above-mentioned point out, when detecting greasy dirt region, can rely on people voluntarily judges, can also be solved by the application, rely on this Come when solving, scheme is for application：When detecting, supporting structure removal and the upper layer central motor point in circular machine people's shell From at this point, there is the support of support universal wheel, and when bottom motor rotates, sponge cotton structure being relied on and clean rod and floor The entire robot of frictional force drives it is random move on the ground, the present invention is additionally provided with greasy dirt detection and cleans control unit, should It includes FPGA and current sensor that greasy dirt detection, which cleans control unit, which is arranged connects returning for power supply in bottom motor Road perceives the electric current in the circuit, and FPGA controls bottom motor, upper layer central motor, air pump, one by each relay simultaneously The opening and closing of grade water spray pipe valve, two level water spray pipe valve.Detecting greasy dirt area and controlling the mode that above-mentioned device cooperation is completed to clear up is, by The cotton fibre in rod is cleaned in sponge cotton structure and is liable to stick to clc layer, so if the machine of the present invention is moved to oil When above pollution layer, then sponge cotton structure cleans rod and is necessarily contacted with clc layer, and during this contact, due to greasy dirt It can be to cleaning stick into viscous force, therefore a degree of blocking can be carried out to cleaning rod, at this point, the residual adhesion cleaned on rod arrives Fiber on clc layer with clean after rod detaches, clean the completely inswept greasy dirt area of rod, during this, the rotating speed of motor can be by fast Turn slow, then by slow-speed to soon.Therefore, can be caused under this rotation situation electric current turn again to from low to high it is low, and the present invention pass The value of sensor real-time Transmission electric current, and FPGA according to current value find certain time in above-mentioned curent change situation when, then sentence There are clc layers in the fixed region, can send out alarm at this time, and stop cleaning, and the group that personnel to be operated complete supporting structure is filled with And after injection hot water, after FPGA controls level-one water spray pipe valve at this time, air pump completes primary water spray, by driving bottom motor, upper layer Central motor waits for after the completion of once clearing up, and after FPGA drives two level water spray pipe valve, air pump to complete secondary water spray, then drives bottom Motor, upper layer central motor, complete secondary cleaning.

Preferably, it includes sponge barred body that sponge cotton structure, which cleans rod, and set is provided with more annulars on the sponge barred body Particle size cotton thread, particle size cotton thread it is interior through less than sponge barred body outer diameter, after particle size cotton thread is set on sponge barred body, by sponge Barred body crimp makes its surface form hump.

The particle size cotton thread is the structure that the outer coiling cotton-wool line of annular rubber ring is constituted, and the line footpath of the annular rubber ring is To 4 millimeters and 4 millimeters or more, cotton thread thickness should reach 3 millimeters and 3 millimeters or more.

In the assembly of sponge barred body and particle size cotton thread, we are completed by the way of interference fit so that sponge barred body Hump is formed, it is intended that sponge barred body bevel edge is caused to form angle with particle size cotton thread side, which can be effective The clc layer for squeezing after softening and being attached with cotton fiber, allows clc layer that particle shape is more readily formed, and is cleaned convenient for follow-up, In, using large-sized cotton thread, be conducive to the separation of cotton fiber.

Preferably, the flat formula annular rubber ring of the annular rubber ring to be linear be flat.

Preferably, in order to ensure that the stabilization of autobiography, the support dome shell inner wall are provided at least three limit pulley, Under use state, the rounded edge of upper layer circular shell is embedded into the groove of limit pulley.

Preferably, the ring diameter of the level-one water storage endless tube is less than the ring diameter of two level water storage endless tube.

Preferably, for upper layer central motor spin stabilization, upper layer central motor bottom end is fixed on partition board, upper layer Central motor upper end is fixed on the upper inner wall of upper layer cavity.

Preferably, extend multiple support columns on the inner wall of the level-one step to be connected on bottom motor outer wall.

Compared with prior art, the present invention having the following advantages and advantages：It can effectively understand greasy dirt, can realize certainly Dynamic detection greasy dirt area, it is ensured that it is small that high-temperature water cleans the influence deformed to wood floors.

Description of the drawings

Attached drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：

Fig. 1 is the side block diagram of the present invention during cleaning.

Fig. 2 be supply water layout vertical view (in figure air pump be blinded by lower section bottom motor).

Fig. 3 is the structure chart that sponge cotton structure cleans rod.

Fig. 4 system construction drawings in order to control.

Fig. 5 is situation when bottom motor is located at level-one sparge pipe axis two side areas.

Reference numeral in figure is expressed as：11, dome shell is supported, 12, cantilever, 13, limit pulley, 14, plastics inhale Disk, 15, timber floor, 16, support universal wheel, 17, denaturation clc layer layer, 21, upper layer cavity, 22, upper layer central motor, 31, two Grade stepped cavity, 32, two level water storage endless tube, 33, two level sparge pipe, 34, two level water filling air injection pipe, 35, two level spray water pipe valve, 36, air induction conduit, 41, level-one stepped cavity, 42, level-one water storage endless tube, 43, level-one sparge pipe, 44, level-one water filling air injection pipe, 45, level-one is sprayed water pipe valve, 5, level-one step, 61, bottom layer cavity, 62, bottom motor, 63, sponge cotton structure clean rod, 7, gas Pump, 621, fixture, 622, bolt, 631, sponge barred body, 632, particle size cotton thread；8, current sensor.

Specific implementation mode

To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiment and attached drawing, to this Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make For limitation of the invention.

Embodiment 1：

As shown in Figure 1, Figure 2, shown, the wood floors cleaning oil pollution sweeping robot with greasy dirt area judgement detection characteristic,

Circular machine people's shell is divided into upper layer circular shell and lower layer's circular shell, under the diameter of upper layer circular shell is more than The diameter of layer circular shell, support universal wheel 16 is provided on the circular shell of upper layer, and lower layer's circular shell is located at support universal wheel Region between 16, the bottom surface of upper layer circular shell are connected with the upper top surface of lower layer's circular shell,

Partition board is provided in the circular shell of upper layer, the upper layer of partition board is upper layer cavity 21, and the lower layer of partition board is two level platform Rank cavity 31；

The center location of the upper layer cavity 21 is fixedly installed rotary shaft end towards upper upper layer central motor 22； 1 two level water storage endless tube 32 and 2 axis two level sparge pipe 33,2 two parallel to each other are provided in two stage steps cavity 31 The both ends of grade sparge pipe 33 are connected using two level water spray pipe valve 35 and two level water storage endless tube 32 simultaneously, 2 two level sparge pipes 33 Axis is overlapped with the non-diameter string of two level water storage endless tube 32, and air pump 7, the two level are additionally provided between 2 two level sparge pipes 33 The two level water filling air injection pipe 34 for injecting 80-100 degrees Celsius of hot water and air, the two level note are provided on water storage endless tube 32 Water air injection pipe 34 extends up to outside circular machine people's shell, and 34 upper end of two level water filling air injection pipe is provided with plug, and 80-100 takes the photograph Family name's degree hot water is injected from 34 upper end of two level water filling air injection pipe to two level water filling air injection pipe 34, and 34 middle part of two level water filling air injection pipe passes through Air induction conduit 36 is connected to the puff prot of air pump 7, and air is injected by air induction conduit 36 to two level water filling air injection pipe 34；

Lower layer's circular shell inner wall is provided with the level-one step of circular ring shape, the upper layer of level-one step is level-one stepped cavity 41, the annular cavity of level-one step is bottom layer cavity 61；

1 level-one water storage endless tube 42 and 1 level-one sparge pipe 43, level-one water spray are provided in the level-one stepped cavity 41 The both ends of pipe 43 are connected using level-one water spray pipe valve 45 with level-one water storage endless tube 42 simultaneously, the axis and two level of level-one sparge pipe 43 The diameter string of water storage endless tube 32 overlaps；The bottom of air pump 7 is mounted on level-one sparge pipe 43, is set on the level-one water storage endless tube 42 It is equipped with the level-one water filling air injection pipe 44 for injecting 80-100 degrees Celsius of hot water and air, the level-one water filling air injection pipe 44 is upward It extends to outside circular machine people's shell, 44 upper end of level-one water filling air injection pipe is provided with plug, and 80-100 degrees Celsius of hot water is from level-one 44 upper end of water filling air injection pipe is injected to level-one water filling air injection pipe 44, the middle part of level-one water filling air injection pipe 44 by air induction conduit 36 with The puff prot of air pump 7 is connected to, and air is injected by air induction conduit 36 to level-one water filling air injection pipe 44；

The center location fixed setting of the bottom layer cavity 61 there are one bottom motor 62 of the rotary shaft end under or The bottom layer cavity 61 is located at 43 axis two side areas of level-one sparge pipe and is fixedly installed 1 rotary shaft end respectively under Bottom motor 62.

The rotary shaft end of the bottom motor 62 is connected with fixture 621, and the fixture 621 is clamped at least 2 levels The sponge cotton structure of setting cleans rod 63；

Greasy dirt detection clean control unit include FPGA, current sensor, control two level water spray pipe valve 35 relay, It controls the relay of air pump, the relay of control level-one water spray pipe valve 45, the relay for controlling upper layer central motor 22, control bottom The relay of layer motor, wherein current sensor accesses the input pin of FPGA, No. 001 output controlling switch connection of FPGA On the relay low-voltage control circuit of control bottom motor, the power pins of bottom motor be connected on control bottom motor after In the high voltage control circuit of electric appliance, in the high voltage control circuit of the relay of current sensor setting control bottom motor；FPGA No. 002 output controlling switch be connected to control upper layer central motor 22 relay low-voltage control circuit on, upper layer center 22 power pins of motor are connected on the high voltage control circuit of the relay of control upper layer central motor 22；No. 003 of FPGA is defeated Go out on the low-voltage control circuit for the relay that controlling switch is connected to control two level water spray pipe valve 35, the electricity of two level water spray pipe valve 35 Source pin is connected on the high voltage control circuit of the relay of control two level water spray pipe valve 35；No. 004 output control of FPGA is drawn Foot is connected on the low-voltage control circuit of the relay of control level-one water spray pipe valve 45, the power pins string of two level water spray pipe valve 35 It is associated on the high voltage control circuit of the relay of control level-one water spray pipe valve 45；No. 005 output controlling switch of FPGA is connected to On the low-voltage control circuit for controlling the relay of air pump, the height that the power pins of air pump are connected on the relay of control air pump is voltage-controlled On circuit processed；

During cleaning, it is marked with 80-100 degrees Celsius of hot water in level-one water storage endless tube and two level water storage endless tube, also uses holder Structure configures on wood floors cleaning oil pollution sweeping robot, and the supporting structure is hemispheric support dome shell 1, described 1 center of support dome shell extends downwardly the cantilever 12 for being useful for suspension circular machine people's shell, 12 lower end of cantilever and upper layer center The rotary shaft end of motor 22 is clamped；Using the plastic suckers 14 of the lower port setting of support dome shell 1, it is adsorbed on wood floors On 15.

Wherein, the cleaning control method includes following procedure：

A, detection process step：

A1, after exporting high level using No. 001 output controlling switch of FPGA, the relay startup of bottom motor is controlled, Bottom electric motor starting, bottom motor drives sponge cotton structure to clean the rotation of rod 63, and drives entire wood floors cleaning oil pollution Sweeping robot is random in ground running, No. 002 output controlling switch, the FPGA of FPGA under the support of support universal wheel 16 No. 003 output controlling switch, No. 004 of FPGA output controlling switch, No. 005 output controlling switch of FPGA do not export high electricity It is flat；

B, installation step：

B1, after step A2, open plug, inject 80-100 into two level water filling air injection pipe 34 and level-one water filling air injection pipe Degree Celsius hot water, then cover plug；

B2, after step B1, using supporting structure configuration on wood floors cleaning oil pollution sweeping robot, the holder Structure is hemispheric support dome shell 1, and 1 center of support dome shell, which extends downwardly, is useful for suspension circular machine people's shell Cantilever 12, the rotary shaft end of 12 lower end of cantilever and upper layer central motor 22 is clamped；It is set using the lower port of support dome shell 1 The plastic suckers 14 set, are adsorbed on wood floors 15；

C：Clean step：

No. 004 output controlling switch of C2, FPGA export high level, and control level-one water spray pipe valve 45 is opened；

No. 001 output controlling switch of C3, FPGA export high level, No. 002 high electricity of output controlling switch output of FPGA Flat, upper layer central motor 22 and bottom motor start simultaneously, and upper layer central motor 22 drives wood floors cleaning oil pollution sweeper Device people's autobiography, bottom motor drive sponge cotton structure to clean the rotation of rod 63；

No. 001 output controlling switch of C6, FPGA export high level, No. 002 high electricity of output controlling switch output of FPGA Flat, upper layer central motor 22 and bottom motor start simultaneously, and upper layer central motor 22 drives wood floors cleaning oil pollution sweeper Device people's autobiography, bottom motor drive sponge cotton structure to clean the rotation of rod 63.

Therefore, in order to solve the problems, such as the cleaning for being denaturalized greasy dirt on above-mentioned wood floors, the present invention is provided with 2 main portions Part, one is circular machine people, and one is supporting structure, cleaning when, circular machine people's integral hanging on supporting structure, Greasy dirt detection is carried out before cleaning, the detection of greasy dirt can voluntarily judge region with someone, and then the equipment assembly of the present invention exists Greasy dirt overlying regions can also be detected using machine, and specific detection mode further part is described in detail, and needed Before clearing up, circular machine people is first integrally placed into greasy dirt area by us, then will support the cantilever 12 in dome shell 1 and upper layer The rotary shaft end of central motor 22 connects so that entire circular machine people suspension, and support the plastic suckers 14 on dome shell 1 It can firmly be adsorbed in timber floor, at this point, the plug of level-one water filling air injection pipe and two level water filling air injection pipe is first opened, injection 80-100 degrees Celsius of water, in water can also suitable addition detergent, then close plug, later, booster air pump, when cleaning It is divided into 2 cleanings, first starts the level-one on level-one sparge pipe and spray water pipe valve 45, allow the high-temperature water in level-one water storage endless tube 42 in gas It is ejected on floor after flowing to level-one sparge pipe under the action of pump output high pressure gas, starts 22 He of upper layer central motor simultaneously at this time Bottom motor 62, under the action of upper layer central motor 22 of the present invention, entire circular machine people carries out autobiography, therefore this design High-temperature water can be made first directly to be contacted with floor surface, directly greasy dirt is allowed to soften, greasy dirt is allowed to be mixed with high-temperature water, at this time in sea Under the action of continuous cotton structure cleans rod 63, sponge cotton structure, which cleans the cavernous body in rod 63, can absorb water, and cotton is known from experience Absorb greasy dirt.

And since the output power of general family's sweeping robot is weaker, effect is cleaned to increase, the present invention uses upper It states upper layer central motor 22 and bottom motor 62 rotates.Bottom motor 62 is designed with 2 kinds of situations in the present invention, the first is Bottom motor 62 is fixed on to the center location of bottom layer cavity 61, at this time the rotation side of bottom motor 62 and upper layer central motor 22 To identical.Be for second by 2 respectively bottom motor 62 be fixed on the bottom layer cavity 61 and be located at 43 axis two of level-one sparge pipe Side region, the rotation direction of 2 bottom motors 62 is opposite at this time, and upper layer central motor 22 can rotate in any direction at this time Can not also rotate or any cooperation rotation of three motors, due to the rotation direction of 2 bottom motors 62 be on the contrary can will be oily Pollution layer is squeezed to center position, while in the upper layer under the rotation of electrocardiograph 22, the clc layer being extruded is easier shape by poststack At particulate form.Bottom motor 62 and the matching relationship of bottom layer cavity 61 are to fix the shell of bottom motor 62 by structural member Into bottom layer cavity 61.

Simultaneously because the present invention cleans rod 63 using sponge cotton structure, structure includes cavernous body and cotton body group At wherein the cotton fibre in cotton body is easy, when the greasy dirt larger with viscosity contacts, to be adhered on clc layer, thus may be used To reduce its viscosity, under the shock of cavernous body, entire clc layer, which just will appear, to be layered and is gradually disengaged, and upper layer is fine with cotton The part of dimension will switch to particle shape, therefore be easy for clearing up.Clear up in order to prevent be not thorough and last remaining portion Greasy dirt is divided to be closest to wood floors surface layer, at this point, we send forth again using two level sparge pipe 33, two level sparge pipe 33 start-up courses are identical as the Starting mode of level-one sparge pipe, are all using after air pump pressurization, two level water spray pipe valve sprays after opening It penetrates.Again during this, after the completion of once spraying water, and just start secondary water spray after the completion of primary cleaning, two level stores at this time 32 water temperature of water ring pipe is lower, which is provided with primary water spray and secondary water spray splitting time so that water temperature reduces, so as to protect When avoiding high-temperature water by floor deformation while the separation for demonstrate,proving residual fraction greasy dirt, and once spraying water, although using high-temperature water, But due to the barrier for having greasy dirt, water directly can not be penetrated into rapidly in timber floor, and when secondary water spray, appoint and also has greasy dirt, but The area and thickness in greasy dirt area are all smaller, if therefore the water that continues using high temperature spray water, can seriously affect timber floor makes Timber floor deformation, therefore the present invention is when injecting early period, while injecting 80-100 degrees Celsius of water, therefore can ensure first When secondary water spray, temperature is high, can efficiently separate greasy dirt, when allowing greasy dirt to soften, and spraying water for the second time, water temperature is already reduced to 50 degree Left and right, therefore large effect will not be caused to floor.

By above-mentioned analysis, the present invention be completed under the working in coordination of three core designs 2 times cleaning, first, use The arrangement of motor, be conducive to oil rub resistance adhesive force the problem of.Second uses the cleaning rod of cavernous body and cotton body, utilizes Sponge sucks in water, and cotton fibre is liable to stick on clc layer, and switchs to after allowing cotton fibre to be attached to greasy dirt when cleaning Particle shape.Third uses double water sprays of time interval so that rear layer greasy dirt corresponds to high-temperature water, and thin layer greasy dirt corresponds to low temperature Water avoids the problem that floor temperature distortion.Simultaneously as the present invention use allow entire circular machine people's shell autobiography, also The viscous force for cleaning rod and being contacted with clc layer can be resisted using the revolution inertia that the weight of circular machine people itself generates, by In needing circular machine people's autobiography, the present invention is particularly by above structure level-one water storage endless tube 42, two level water storage endless tube using circle Shape designs, while upper layer central motor 22, air pump are coaxially located at center location, total integral into centrosymmetric design, So that when its autobiography, more steadily.

In addition, above-mentioned part only devises the scheme about the cleaning for how solving clc layer when knowing greasy dirt region, And it is above-mentioned point out, when detecting greasy dirt region, can rely on people voluntarily judges, can also be solved by the application, rely on this Application is come when solving, as shown in figure 4, its scheme is：When detecting, supporting structure removal and the upper layer in circular machine people's shell Central motor 22 detaches, at this point, there is the support of support universal wheel, and when the rotation of bottom motor, can rely on sponge cotton structure Clean rod 63 and floor the entire robot of frictional force drives it is random move on the ground, the present invention is additionally provided with greasy dirt and detects Control unit is cleaned, it includes FPGA and current sensor that greasy dirt detection, which cleans control unit, and the current sensor 8 setting is in bottom electricity The electric current in the circuit is perceived on the circuit of machine connection power supply, FPGA is controlled by each relay in bottom motor, upper layer simultaneously The opening and closing of electrocardiograph, air pump, level-one water spray pipe valve, two level water spray pipe valve.Detection greasy dirt area simultaneously controls above-mentioned device cooperation completion The mode of cleaning is clc layer to be liable to stick to since sponge cotton structure cleans the cotton fibre in rod 63, so if originally When the machine of invention is moved to above clc layer, then sponge cotton structure cleans rod 63 and is necessarily contacted with clc layer, and at this During contact, since greasy dirt can carry out a degree of blocking, quite to cleaning stick into viscous force to cleaning rod In increasing load to bottom motor, at this point, after the fiber for cleaning on the residual adhesion to clc layer on rod is detached with cleaning rod, Rod completely inswept greasy dirt area is cleaned, during this, the rotating speed of motor can be slow by fast-turn construction, then by slow-speed to soon.Therefore, this turn Electric current can be caused in the case of dynamic turns again to low, and the value of inventive sensor real-time Transmission electric current from low to high, and FPGA roots When finding the above-mentioned curent change situation in certain time according to current value, then judge that there are clc layers in the region, can send out at this time Go out alarm, and stop cleaning, after personnel to be operated complete assembling and the injection hot water of supporting structure, FPGA controls level-one at this time It sprays water after pipe valve, the primary water spray of air pump completion, bottom motor, upper layer central motor will be driven, after the completion of waiting for once cleaning, FPGA After driving two level water spray pipe valve, air pump to complete secondary water spray, then bottom motor, upper layer central motor are driven, completes secondary cleaning.

It is shown such as Fig. 3, it is preferred that it includes sponge barred body 631 that sponge cotton structure, which cleans rod, on the sponge barred body 631 Set is provided with more annular particle size cotton threads 631, the interior outer diameter through less than sponge barred body 631 of particle size cotton thread 631, particle size cotton thread After 631 are set on sponge barred body 631, its surface is set to form hump 631 crimp of sponge barred body.

The particle size cotton thread 631 is the structure that the outer coiling cotton-wool line of annular rubber ring is constituted, the line of the annular rubber ring Diameter is to 4 millimeters and 4 millimeters or more, and 631 thickness of cotton thread should reach 3 millimeters and 3 millimeters or more.

In the assembly of sponge barred body 631 and particle size cotton thread 631, we are completed by the way of interference fit so that sea Continuous barred body 631 forms hump, it is intended that 631 bevel edge of sponge barred body is caused to form angle with 631 side of particle size cotton thread, The angle can be squeezed effectively after softening and be attached with the clc layer of cotton fiber, allow clc layer that particle shape is more readily formed, Convenient for subsequently cleaning, wherein use large-sized cotton thread 631, be conducive to the separation of cotton fiber.

Preferably, in order to ensure that the stabilization of autobiography, 1 inner wall of support dome shell are provided at least three limit pulley 13, In a state of use, the rounded edge of upper layer circular shell is embedded into the groove of limit pulley 13.

Preferably, for 22 spin stabilization of upper layer central motor, 22 bottom end of upper layer central motor is fixed on partition board, Central motor 22 upper end in upper layer is fixed on the upper inner wall of upper layer cavity 21,.

Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include Within protection scope of the present invention.

Claims

1. the wood floors cleaning oil pollution sweeping robot with greasy dirt area judgement detection characteristic, which is characterized in that

The wood floors cleaning oil pollution sweeping robot includes circular machine people's shell, the oil being located in circular machine people's shell Dirt detection cleans control unit；

Circular machine people's shell is divided into upper layer circular shell and lower layer's circular shell, and the diameter of upper layer circular shell is justified more than lower layer The diameter of shape shell, support universal wheel (16) is provided on the circular shell of upper layer, and lower layer's circular shell is located at support universal wheel (16) region between, the bottom surface of upper layer circular shell are connected with the upper top surface of lower layer's circular shell,

Partition board is provided in the circular shell of upper layer, the upper layer of partition board is upper layer cavity (21), and the lower layer of partition board is two stage steps Cavity (31)；

The center location of the upper layer cavity (21) is fixedly installed rotary shaft end towards upper upper layer central motor (22)； 1 two level water storage endless tube (32) and 2 axis two level sparge pipe (33) parallel to each other are provided in two stage steps cavity (31), The both ends of 2 two level sparge pipes (33) are connected using two level water spray pipe valve (35) and two level water storage endless tube (32) simultaneously, 2 two levels The axis of sparge pipe (33) is overlapped with the non-diameter string of two level water storage endless tube (32), is also set up between 2 two level sparge pipes (33) There is air pump (7), the two level note for injecting 80-100 degrees Celsius of hot water and air is provided on the two level water storage endless tube (32) Water air injection pipe (34), the two level water filling air injection pipe (34) extend up to outside circular machine people's shell, two level water filling air injection pipe (34) upper end is provided with plug, and 80-100 degrees Celsius of hot water is from two level water filling air injection pipe (34) upper end to two level water filling air injection pipe (34) it injects, is connected to the puff prot of air pump (7) by air induction conduit (36) in the middle part of two level water filling air injection pipe (34), air passes through Air induction conduit (36) is injected to two level water filling air injection pipe (34)；

Lower layer's circular shell inner wall is provided with the level-one step of circular ring shape, the upper layer of level-one step is level-one stepped cavity (41), the annular cavity of level-one step is bottom layer cavity (61)；

1 level-one water storage endless tube (42) and 1 level-one sparge pipe (43), level-one spray are provided in the level-one stepped cavity (41) The both ends of water pipe (43) are connected using level-one water spray pipe valve (45) and level-one water storage endless tube (42) simultaneously, level-one sparge pipe (43) Axis is overlapped with the diameter string of two level water storage endless tube (32)；The bottom of air pump (7) is mounted on level-one sparge pipe (43), and described one The level-one water filling air injection pipe (44) for injecting 80-100 degrees Celsius of hot water and air is provided on grade water storage endless tube (42), it is described Level-one water filling air injection pipe (44) extends up to outside circular machine people's shell, and level-one water filling air injection pipe (44) upper end is provided with plug Son, 80-100 degrees Celsius of hot water are injected from level-one water filling air injection pipe (44) upper end to level-one water filling air injection pipe (44), level-one water filling The middle part of air injection pipe (44) is connected to by air induction conduit (36) with the puff prot of air pump (7), air by air induction conduit (36) to Level-one water filling air injection pipe (44) is injected；

The center location fixed setting of the bottom layer cavity (61) there are one bottom motor (62) of the rotary shaft end under or The bottom layer cavity (61) is located at level-one sparge pipe (43) axis two side areas and is fixedly installed 1 rotary shaft end direction respectively Under bottom motor (62)；

The rotary shaft end of the bottom motor (62) is connected with fixture (621), and the fixture (621) is clamped at least 2 water The sponge cotton structure of flat setting cleans rod (63)；

It includes FPGA, current sensor, the relay of control two level water spray pipe valve (35), control that the greasy dirt detection, which cleans control unit, The relay of air pump processed, the relay of control level-one water spray pipe valve (45), the relay of control upper layer central motor (22), control The relay of bottom motor, wherein current sensor accesses the input pin of FPGA, and No. 001 output controlling switch of FPGA connects It is connected on the relay low-voltage control circuit of control bottom motor, the power pins of bottom motor are connected on control bottom motor In the high voltage control circuit of relay, in the high voltage control circuit of the relay of current sensor setting control bottom motor； On the low-voltage control circuit for the relay that No. 002 output controlling switch of FPGA is connected to control upper layer central motor (22), on On the high voltage control circuit for the relay that layer central motor (22) power pins are connected on control upper layer central motor (22)；FPGA No. 003 output controlling switch be connected to control two level water spray pipe valve (35) relay low-voltage control circuit on, two level spray The power pins of water pipe valve (35) are connected on the high voltage control circuit of the relay of control two level water spray pipe valve (35)；FPGA's On the low-voltage control circuit for the relay that No. 004 output controlling switch is connected to control level-one water spray pipe valve (45), two level water spray The power pins of pipe valve (35) are connected on the high voltage control circuit of the relay of control level-one water spray pipe valve (45)；FPGA's On the low-voltage control circuit for the relay that No. 005 output controlling switch is connected to control air pump, the power pins of air pump are connected on On the high voltage control circuit for controlling the relay of air pump；

During cleaning, it is marked with 80-100 degrees Celsius of hot water in level-one water storage endless tube and two level water storage endless tube, also uses supporting structure On wood floors cleaning oil pollution sweeping robot, the supporting structure is hemispheric support dome shell (1), the branch for configuration Support dome shell (1) center extends downwardly the cantilever (12) for being useful for suspension circular machine people's shell, cantilever (12) lower end and upper layer The rotary shaft end of central motor (22) is clamped；Using the plastic suckers (14) of the lower port setting of support dome shell (1), absorption On wood floors (15).

2. the wood floors cleaning oil pollution sweeping robot according to claim 1 with greasy dirt area judgement detection characteristic, It is characterized in that, it includes sponge barred body (631) that the sponge cotton structure, which cleans rod, setting is covered on the sponge barred body (631) There are more annular particle size cotton threads (631), the interior outer diameter through less than sponge barred body (631) of particle size cotton thread (631), particle size cotton thread (631) after being set on sponge barred body (631), its surface is made to form hump sponge barred body (631) crimp.

3. the wood floors cleaning oil pollution sweeping robot according to claim 2 with greasy dirt area judgement detection characteristic, It is characterized in that, the particle size cotton thread (631) is the structure that the outer coiling cotton-wool line of annular rubber ring is constituted, the annular rubber ring Line footpath be to 4 millimeters and 4 millimeters or more, cotton thread (631) thickness should reach 3 millimeters and 3 millimeters or more.

4. the wood floors cleaning oil pollution sweeping robot according to claim 3 with greasy dirt area judgement detection characteristic, It is characterized in that, the annular rubber ring is linear be flat flat formula annular rubber ring.

5. the wood floors cleaning oil pollution sweeping robot according to claim 1 with greasy dirt area judgement detection characteristic, It is characterized in that, support dome shell (1) inner wall is provided at least three limit pulley (13), and in a state of use, upper layer circle The rounded edge of shape shell is embedded into the groove of limit pulley (13).

6. the wood floors cleaning oil pollution sweeping robot according to claim 1 with greasy dirt area judgement detection characteristic, It is characterized in that, the ring diameter of the level-one water storage endless tube is less than the ring diameter of two level water storage endless tube.

7. the wood floors cleaning oil pollution sweeping robot according to claim 1 with greasy dirt area judgement detection characteristic, It is characterized in that, upper layer central motor (22) bottom end is fixed on partition board, upper layer central motor (22) upper end is fixed on On the upper inner wall of layer cavity (21).

8. the wood floors cleaning oil pollution sweeping robot according to claim 1 with greasy dirt area judgement detection characteristic, It is connected on bottom motor outer wall it is characterized in that, extending multiple support columns on the inner wall of the level-one step.