CN108685530B - Indoor automatically regulated intelligence cleaning machines people - Google Patents

Abstract

The invention discloses an indoor automatic adjustment intelligent cleaning robot, which comprises a cleaning structure and a mopping structure, wherein the cleaning structure comprises a cleaning head, a mopping head and a mopping head; the mopping structure comprises a bottom plate, a traveling mechanism and a mopping mechanism are mounted on the bottom plate, a guide rail is formed at the top of the bottom plate, the mopping mechanism comprises a translation frame which is connected with the guide rail in a sliding manner, and the translation frame is connected with a translation structure and a lifting structure. The telescopic mop frame is simple in structure, convenient to use and small in floor area, achieves telescopic of the mop structure, can clean corners and pack up quickly and cleanly, and enables the first rope body and the second rope body to be elastic and tight through reverse rotation of the left rotating shaft and the right rotating shaft, so that the mop frame can be opened and contracted at any position, the mop frame can be in close contact with the ground, steps, the bottom edge of a window and the like can be cleaned conveniently.

Description

Indoor automatically regulated intelligence cleaning machines people

Technical Field

This patent belongs to machinery, especially relates to an indoor automatically regulated intelligent cleaning machines people.

Background

The indoor automatically regulated intelligence cleaning machines people of current finishes ground cleaning at the mop structure, can withdraw the mop structure in the casing usually to long-term hourglass of mop leads to the mop to become dirty outside. In addition, the existing mop is a flat mop with good floor cleaning effect, wherein the flat mop uses collodion, which needs to be kept in a wet state for a long time, and the collodion is hardened due to long-time drying, so that the effect is lost. Therefore, in order to retract the mop structure into the shell, the width of the mop needs to be designed to be smaller than that of the shell, so that when the machine is used for mopping the floor, even if the shell is tightly attached to the wall surface, the mop structure cannot mop the corner structure, and the floor is not completely cleaned.

Disclosure of Invention

In order to solve the problems, the invention discloses an indoor automatic adjustment intelligent cleaning robot. The telescopic mop frame is simple in structure, convenient to use and small in floor area, achieves telescopic of the mop structure, can clean corners and pack up quickly and cleanly, and enables the first rope body and the second rope body to be elastic and tight through reverse rotation of the left rotating shaft and the right rotating shaft, so that the mop frame can be opened and contracted at any position, the mop frame can be in close contact with the ground, steps, the bottom edge of a window and the like can be cleaned conveniently.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an indoor automatic adjustment intelligent cleaning robot comprises a cleaning structure and a mopping structure; the mopping structure comprises a bottom plate, a traveling mechanism and a mopping mechanism are mounted on the bottom plate, a guide rail is formed at the top of the bottom plate, the mopping mechanism comprises a translation frame which is in sliding connection with the guide rail, and the translation frame is connected with a translation structure and a lifting structure; the lifting structure comprises a lifting stepping motor, and the lifting stepping motor is in threaded connection with the large motor bracket through a first screw rod; the translation frame is connected with an end seat for fixing and lifting the stepping motor through an end seat supporting rod; the motor big bracket is convexly provided with a guide bulge matched with the end seat supporting rod; the motor large support is fixedly connected with a direct current motor, the direct current motor is connected with a hollow rod shaft, the hollow rod shaft is connected with a T-shaped frame, and hollow telescopic rods are sleeved on two sides of the T-shaped frame; the hollow telescopic rod penetrates through a first rope body, the first rope body penetrates through the hollow rod shaft and the T-shaped frame and then is divided into two parts which are respectively connected with the outer ends of the telescopic rods at the two ends of the T-shaped frame; the telescopic rods are respectively hinged with mop frames for installing the mop, and the two mop frames are mutually hinged; the end seat supporting rod is fixedly connected with a second rope body, and the second rope body penetrates through the hollow rod shaft and the T-shaped frame to be fixedly connected with the hinged parts of the two mop frames; a through hole matched with the second rope body is formed on the T-shaped frame; the bottom plate is provided with an adjusting motor, the adjusting motor is connected with a gear, the gear is respectively meshed with a left gear and a right gear, the left gear is connected with a left rotating shaft, and the right gear is connected with a right rotating shaft; one of the first rope body and the second rope body is wound on the left rotating shaft, and the other one is wound on the right rotating shaft.

In a further improvement, the motor big support is fixed with a U-shaped frame, the adjusting motor is installed on the U-shaped frame, and the left rotating shaft and the right rotating shaft are both connected to the U-shaped frame in a shaft mode.

The improved structure comprises a cleaning structure water tank outer frame, wherein the front end of the cleaning structure water tank outer frame is provided with an opening and is fixed with a turnover plate bracket; a water tank cover is fixed in the middle of the inner part of the outer frame of the water tank of the cleaning structure, a cleaning through hole is formed on the water tank cover, the bottom of the water tank cover is a water tank, and a convex edge is formed by the water tank cover protruding out of the water tank; the middle part of the turnover plate is hinged to the turnover plate support, the two ends of the turnover plate support are in threaded connection with a second lead screw, and the second lead screw is connected with a lead screw stepping motor.

The water tank is communicated with a water inlet of the filter layer through the pre-filter and the water pump, the water inlet of the filter layer is communicated with the filter layer, and the filter layer is communicated with the water tank to form water circulation; the top of the filter layer is provided with a filter layer sealing cover.

Further improvement, install on the returning face plate and fill electric pile.

The further improvement, running gear includes drive wheel and bull's eye wheel, and the drive wheel has the drive wheel motor through drive wheel reduction gear connection, and the drive wheel is two.

In a further improvement, the bottom plate is further provided with a dust collection mechanism, the dust collection mechanism comprises a dust collector expansion head, the dust collector expansion head is communicated with a dust collector middle interface, and the dust collector middle interface is communicated with a fan.

The improved structure comprises a translation stepping motor end seat fixed on the bottom plate, a third lead screw is connected with the translation stepping motor end seat in a threaded manner, and a translation stepping motor is fixedly connected with a translation frame.

In a further improvement, a bevel gear is fixed on the hollow rod shaft, and the bevel gear is meshed with a gear connected with a direct current motor.

The first rope body and the second rope body are elastic ropes.

In a further improvement, the hollow rod shaft is connected with the T-shaped frame through a coupler.

The indoor automatic adjustment intelligent cleaning robot is characterized in that a visual camera is mounted at the top of the indoor automatic adjustment intelligent cleaning robot, the visual camera remotely transmits the real-time condition of a family to a user mobile phone end WeChat small program, and a user remotely commands the indoor automatic adjustment intelligent cleaning robot to enter a specified room to check the condition, so that no dead angle is caused to monitor the family; the visual camera is accessed to a home wireless network, and an SD card is arranged in the camera or wireless transmission information is stored on a computer hard disk; the interface protocol uses ONVIF and supports TCP/IP, ICMP, HTTP, DHCP, DNS and PPPoE network protocols; the video format adopts an H.265 coding mode; the WeChat applet uses Tencent cloud service, integrates audio and video functions of Rtmp plug flow and low-delay video watching in the WeChat applet, has good video quality, can intelligently reduce noise, can manually switch image quality, has a good reliable transmission function, and is convenient for developers to develop functions.

Drawings

FIG. 1 is a schematic overall perspective view of the present invention;

FIG. 2 is a schematic overall perspective view of the present invention;

FIG. 3 is a schematic view of the mopping configuration entering the cleaning configuration;

FIG. 4 is a schematic view of the mopping structure after entering the cleaning structure;

FIG. 5 is a schematic front view of a cleaning structure;

FIG. 6 is a schematic perspective view of a cleaning structure;

FIG. 7 is a schematic view of the flip board in an open configuration;

FIG. 8 is a side view of the mopping structure;

FIG. 9 is a schematic side view of the interior of the mopping structure;

FIG. 10 is a first perspective view of the interior of the mopping structure;

FIG. 11 is a schematic top view of the interior of the mopping structure;

FIG. 12 is a second perspective view of the interior of the mopping structure;

FIG. 13 is a side view of the floor mopping mechanism;

FIG. 14 is a schematic top view of the mopping mechanism;

FIG. 15 is a perspective view of the floor mopping mechanism;

FIG. 16 is a front view of the mopping mechanism;

FIG. 17 is a perspective view of the dust suction mechanism;

FIG. 18 is a schematic view showing an internal structure of the dust suction mechanism;

FIG. 19 is a schematic front view of the present invention;

FIG. 20 is a schematic perspective view of a filter layer

Fig. 21 is a schematic perspective view of the mopping structure of embodiment 2.

Wherein, 1-turning over the plate bracket; 2, cleaning the outer frame of the structural water tank; 3-lead screw stepper motor; 4-water tank cover; 5-a filter layer; 6-sealing the filter layer; 7-a floor structure housing; 8-enlarged head of dust collector; 9-filter layer water inlet; 10-a guide rail; 11-T-shaped frame; 12-a coupling; 13-a telescopic rod; 14-mop frame; 15-a first rope body; 16-a second rope body; 17-a direct current motor; 18-a translation stepper motor; 19-a translation frame; 20-fixing an end seat for lifting the stepping motor; 21-a winding roller; 22-end seat support bar; 23-a base plate; 24-a drive wheel retarder; 25-a drive wheel motor; 26-middle interface of dust collector; 27-a fan; 28-fan fixing seat; 29-bull's eye wheel; 30-translation stepping motor end seat; 31-a drive wheel; 32-a hollow rod shaft; 33-a large motor bracket; 34-bevel gear 35-cleaning structure top cover; 36-a charging port; 37-sealing the bottom of the fan fixing base; 38-a water pump; 39-pre-filter; 40-turning over the board; 41-lifting the stepping motor; 42-a vacuum cleaner storage box; 43-charging pile; 44-a water tank; 45-electromagnetic switch; 46-cleaning the structural front cover; 47-a first lead screw; 48-guide projection; 49-cleaning the through hole; 50-a second screw rod; 51-third screw rod.

Detailed Description

Example 1

The patent of the invention has the specific structure as shown in figures 1-20:

1. general scheme

The structure of this scheme divide into and washs two parts of structure and mopping ground structure, and this scheme can reduce mopping ground machine's volume for it can satisfy the clear operating mode of family.

When the machine is not used for mopping and dust collection, the whole machine (shown in figure 2) is put into the washing water circulation structure (shown in figure 3), so that the indoor space occupied by the machine can be effectively reduced.

2. Water circulation and mop cleaning scheme of cleaning structure

The part is mainly used for cleaning the mop and recycling water, a water pump 38, a pre-filter 39, a filter layer 5, a water tank 44 and the like are connected into a whole through a water pipe, after the mop is cleaned and dried in the water tank 44, dirty water enters the water pump 38 through the pre-filter 39 and is sent to the filter layer 5, after the filter layer is cleaned, when the mopping dust collector is cleaned again, an electromagnetic valve 45 is opened, and water is released into the water tank for cleaning the mop. The screw rod stepping motor 3 drives the turnover plate support 1 to move up and down through a nut thereof, so that the mop of the mopping dust collector is cleaned and dehydrated.

The filtering part mainly comprises a filtering layer 5 (provided with a water inlet 9 and a water outlet below the filtering layer) and a filtering screen plate 47, dirty water is pumped into the filtering layer from the water inlet 9 through a water pump 38, secondary filtering is carried out through the filtering screen plate and stored in the filtering layer, when the mop is to be cleaned, an electromagnetic switch 45 is turned on to put the water into a water tank 44 for mop cleaning, and therefore water recycling is achieved.

3. Mopping structure scheme

In this scheme, drive wheel 31 drive machine walks, can turn etc. through the differential, and the fan 27 of big moment of torsion connects the switching mouth 26 through the fan seat and links to dust catcher head 8 again on, wherein there is the dust catcher receiver 42 of a storage rubbish in the fixing base the below big moment of torsion fan 27, treats that it holds rubbish and can take out it to certain extent and clear up rubbish. The translation support is fixed on the guide rail 10 through a nut, the stepping motor drives the nut through a lead screw of the stepping motor, the nut drives the translation support to move back and forth, and the translation support can drive the mop to move linearly to clean in places meeting dirty places, corners and other dead angles. The lifting stepping motor upper seat 20 is used for fixing a lifting motor, and the lifting motor is used for switching working conditions (non-working, mop cleaning, spin-drying and mopping). The direct current motor 17 transmits power to the upper surface of the hollow rod shaft 32 through meshing of a pair of bevel gears, the hollow rod shaft 32 connects the hollow T-shaped frame with the small hole with the hollow rod shaft 32 through the coupler 32, the telescopic rod 13 is sleeved in the T-shaped frame in a transition fit mode, and the telescopic rod 13 is connected to the mop telescopic frame 14 through a hinge joint. Through the exposed length change of the telescopic rod 13 and the angle change between the telescopic frames of the mop, the change of different lengths of the mop is realized, and the change can be used for cleaning the wall corner, so that the cleaning effect is better. The charging port 36 can cooperate with a charging post 43 on a flipping panel 40 in a washing water circulation structure (washing structure) to charge the machine.

4. Mop length telescopic variation scheme

The mop length change mainly comprises a telescopic rod 13, a mop telescopic frame 14, a first rope body 15 needing winding, a first rope body 16 fixedly arranged, a winding roller 21, a coupler 12, a motor support 33, a lifting stepping motor 41, an end seat support rod 22 and the like. The other end of the first rope body 15 is fixed at the position of an articulated shaft of the telescopic rod 13 and the mop telescopic frame 14, the other end of the second rope body 16 is fixed at the position of the articulated shaft of the mop telescopic frame, when the stepping motor 41 drives the support 33 to move downwards, the exposed length of the first rope body 15 wound on the roller 21 is longer gradually, the length of the second rope body 16 is unchanged, when the motor 41 moves downwards, the first rope body is gradually tightened, so that half 'four parallel sides' formed by driving the mop telescopic frame 14 are gathered together to shrink, the mop is lengthened, large-area cleaning and wall corner lengthening are facilitated, and cleaning efficiency and cleaning effect are improved. On the contrary, when not only motor 41 drives support 33 upward movement, second rope 16 becomes loose gradually, and first rope 15 winds gradually on gyro wheel 21, and first rope 15 length shortens to drive telescopic link 13 withdrawal "T" type frame, "parallelogram" diverges, and mop length shortens, is convenient for withdraw into mopping dust absorption casing the inside, and is more pleasing to the eye in appearance, can put into washing water circulating structure the inside with dust absorption mopping machine when out of work, does not account for the family space.

5. Mopping and dust-absorbing working process

When the mopping dust collector is used for cleaning a mop, the high-torque fan 27 stops rotating, the driving wheel 31 drives the machine to reach the position shown in the figure 1, the driving wheel 31 stops moving, the lead screw stepping motor 3 drives the overturning bracket to move through a nut of the lead screw stepping motor, when the position shown in the figure 2 is reached, the driving wheel 31 moves, when the position shown in the figure 3 is reached, the driving wheel 31 stops moving, the lifting stepping motor 41 drives the motor large bracket 33 to move through the nut, the mop 14 gradually extends and enters the water tank 44, after the lead screw stepping motor enters the water tank to a certain depth, the electromagnetic switch 45 is opened to place dirty water stored in the filter layer into the water tank 44, the direct current motor 17 moves, the bevel gear drives the mop to rotate, the cleaning of the mop is realized, and at the moment, the charging port 36 on the mopping dust collector. After a certain time, the suction pump pumps dirty water into the filter layer, the motor 17 adjusts the speed, the water on the mop is dried by centrifugal motion, after the water is dried, the lifting stepping motor 41 moves upwards and retracts into the shell of the mopping dust collector, the driving wheel 31 moves, when the mopping dust collector reaches the position shown in figure 12, the lead screw stepping motor 3 moves to drive the mopping dust collector to reach the position shown in figure 1, the driving wheel 31 moves, and then the original place is returned to for mopping and dust collection.

The mopping dust collector mops the floor normally in a rotary motion mode, and in a sideline, particularly in a corner position, the motor 17 stops moving, and the stepping motor 18 driving the support to translate reciprocates linearly to mopping the floor.

6. Intelligent control

The indoor automatic adjustment intelligent cleaning robot adopts the infrared sensor, takes the detection range of infrared rays and the unknown nature of a cleaning environment into consideration, adopts a marginal learning mode, and can automatically familiarize the unknown environment, so that path planning is carried out on the unknown environment, and the effects of traversing and minimum repetition are achieved.

In the cleaning process of the indoor automatic adjustment intelligent cleaning robot, the obstacle information provided by the sensor comprises infrared sensors in the left, middle and right directions of the robot body and collision sensor signals on the left and right sides in front of the robot body, so that the position of the obstacle relative to the cleaning robot and whether the cleaning robot collides with the obstacle or not are obtained, and the steering condition of the robot is judged.

The camera on this indoor automatically regulated intelligence cleaning machines people can judge the difference of the dirty degree on ground, drags and washes many times to dirty place, makes it reach better effect. The timing module in the machine can realize the timing cleaning of the machine to the ground.

7. In order to prevent the first rope 15 and the second rope 16 from rotating at one end to tighten and knot the ropes, the direct current motor is operated in a forward rotation mode and a reverse rotation mode for a moment. The other scheme is that the first rope body 15 and the second rope body 16 are divided into an upper rope body and a lower rope body, the upper rope body is connected with an upper rotating shaft, the lower rope body is connected with a lower rotating shaft, and the upper rotating shaft is rotatably connected with the lower rotating shaft, so that torsion generated in the rotating process is released.

Example 2

In order to facilitate the expansion and contraction of the telescopic frame 14, the following improvements are made on the basis of embodiment 1: the motor big bracket 33 is provided with a U-shaped frame 52, the U-shaped frame 52 is provided with an adjusting motor 53, the adjusting motor 53 is connected with a gear 54, the gear 54 is respectively engaged with a left gear 55 and a right gear 56, the left gear 55 is connected with a left rotating shaft 57, and the right gear 56 is connected with a right rotating shaft 58; the first rope 15 and the second rope 16 are wound around one left rotating shaft 57 and the other right rotating shaft 58. The left rotating shaft 57 and the right rotating shaft 58 are both connected to the U-shaped frame 52 in a shaft mode. The gear 54, the left gear 55 and the right gear 56 are all bevel gears.

According to the scheme, the first rope body 15 and the second rope body 16 are loosened and tightened by rotating the left rotating shaft 57 and the right rotating shaft 58 reversely, so that the mop frame can be opened and contracted at any position, the mop frame can be in close contact with the ground, steps can be cleaned conveniently, and the edge of the bottom of a window is positioned at the same side.

The bottom of the automatic-adjustment intelligent cleaning robot is provided with a small wide-angle camera, the environment traversed by the robot is identified, the special working condition with serious dirt is identified by utilizing a machine learning SIFT algorithm, an emphatic cleaning scheme is adopted according to the specific working condition, and the image of the working condition is memorized to be used as the contrast of the next cleanliness, so that the effect of cleaning the serious dirt thoroughly is achieved. The image matching is carried out mainly by comparing and memorizing the SIFT characteristics of the working condition image and the image actually acquired by the camera, a corresponding cleaning strategy is adopted according to the matching rate degree, the information stored in the interior can be updated after one-time complete cleaning, and the standard is provided for next cleaning.

Remote monitoring is realized: the visual camera of robot top installation can long-rangely send the real-time condition of family to user's cell-phone end wechat applet transmission, and the user also can appoint the robot to get into appointed room and look over the condition, and no dead angle is monitored the family, can reduce the fitment cost to a certain extent, and the concrete realization is that intelligent cleaning robot's network camera inserts family wireless network, and built-in SD card of camera or save on the computer hard disk. The interface protocol uses ONVIF and supports main stream network protocols such as TCP/IP, ICMP, HTTP, DHCP, DNS, PPPoE and the like; the video format adopts an H.265 coding mode to achieve the best image effect and compression ratio, and simultaneously ensure the picture quality and the confidentiality of data transmission. The Tencent cloud service is used in the small program butt joint aspect, the audio and video functions SDK of Rtmp plug flow, low-delay video watching and the like are integrated in the WeChat of a new version, the small video quality is good, noise can be reduced intelligently, image quality can be switched manually, a good reliable transmission function is achieved, and development of functions of developers is facilitated.

The operating mode is further improved as follows:

1. when the robot enters different rooms, the robot can extract information such as room shapes, furniture and the like through a visual camera and a laser radar at the top, and path planning is performed according to the extracted information. Meanwhile, by utilizing artificial intelligence and perception technology, when the robot encounters people walking in the cleaning process, the robot can actively avoid and plan the path of an uncleaned area again, so that the cleaning efficiency and the cleaning effect can be effectively improved

2. The small wide-angle camera at the bottom can identify the environment traversed by the camera, compares the environment with initially stored information in the machine, identifies the special working condition with serious dirt by utilizing a machine learning SIFT algorithm, adopts an emphatic cleaning scheme according to the specific working condition so as to achieve the thorough cleaning effect of the serious dirt, and takes the information stored in the machine as the new judgment standard for cleaning the machine for the next time after cleaning every time, and can restore the factory settings. The small wide-angle camera on the cleaning robot bottom plate can distinguish the material of the floor, and different working modes are adopted for the ground made of different materials. Thereby achieving more efficient cleaning.

While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the specification and the embodiments, which are fully applicable to various fields of endeavor for which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (7)

1. An indoor automatic adjustment intelligent cleaning robot comprises a cleaning structure and a mopping structure; the mopping structure comprises a bottom plate (23), a walking mechanism and a mopping mechanism are mounted on the bottom plate (23), and the mopping structure is characterized in that a guide rail (10) is formed at the top of the bottom plate (23), the mopping mechanism comprises a translation frame (19) which is in sliding connection with the guide rail (10), and the translation frame (19) is connected with a translation structure and a lifting structure; the lifting structure comprises a lifting stepping motor (41), and the lifting stepping motor (41) is in threaded connection with a motor large support (33) through a first screw rod (47); the translation frame (19) is connected with an end seat (20) for fixing and lifting a stepping motor through an end seat support rod (22); a guide bulge (48) matched with the end seat supporting rod (22) is convexly formed on the large motor support (33); the motor large support (33) is fixedly connected with a direct current motor (17), the direct current motor (17) is connected with a hollow rod shaft (32), the hollow rod shaft (32) is connected with a T-shaped frame (11), and two sides of the T-shaped frame (11) are sleeved with hollow telescopic rods (13); the hollow telescopic rod (13) penetrates through a first rope body (15), the first rope body (15) penetrates through the hollow rod shaft (32) and the T-shaped frame (11) and then is divided into two parts which are respectively connected with the outer ends of the telescopic rods (13) at the two ends of the T-shaped frame (11); the telescopic rods (13) are respectively hinged with mop frames (14) for installing the mops, and the two mop frames (14) are mutually hinged; the end seat supporting rod (22) is fixedly connected with a second rope body (16), and the second rope body (16) penetrates through the hollow rod shaft (32) and the T-shaped frame (11) to be fixedly connected with the hinged parts of the two mop frames (14); a through hole matched with the second rope body (16) is formed on the T-shaped frame (11); an adjusting motor (53) is installed on the bottom plate (23), the adjusting motor (53) is connected with a gear (54), the gear (54) is respectively meshed with a left gear (55) and a right gear (56), the left gear (55) is connected with a left rotating shaft (57), and the right gear (56) is connected with a right rotating shaft (58); one of the first rope body (15) and the second rope body (16) is wound on the left rotating shaft (57), and the other one is wound on the right rotating shaft (58);

the translation structure comprises a translation stepping motor end seat (30) fixed on the bottom plate (23), the translation stepping motor end seat (30) is in threaded connection with a third screw rod (51), the third screw rod (51) is connected with a translation stepping motor (18), and the translation stepping motor (18) is fixedly connected with a translation frame (19); a bevel gear (34) is fixed on the hollow rod shaft (32), and the bevel gear (34) is meshed with a gear connected with the direct current motor (17); the visual camera is installed at the top of the indoor automatic adjustment intelligent cleaning robot, the visual camera remotely transmits the real-time condition of a family to a user mobile phone end WeChat small program, the user remotely commands the indoor automatic adjustment intelligent cleaning robot to enter a specified room to check the condition, and no dead angle is formed to monitor the family; the visual camera is accessed to a home wireless network, and an SD card is arranged in the camera or wireless transmission information is stored on a computer hard disk; the interface protocol uses ONVIF and supports TCP/IP, ICMP, HTTP, DHCP, DNS and PPPoE network protocols; the video format adopts an H.265 coding mode; the WeChat small program uses Tencent cloud service, integrates the audio and video functions of Rtmp plug flow and low-delay video watching in the WeChat small program, has better video quality, can intelligently reduce noise, can manually switch image quality and has good reliable transmission function, and is convenient for developers to develop functions;

the indoor automatic adjustment intelligent cleaning robot drags the floor normally in a rotary motion mode, and the direct current motor (17) stops moving at a sideline and a corner to drive the support translation stepping motor (18) to do reciprocating linear motion to drag the floor;

specifically, the translation stepping motor (18) drives the translation frame (19) to move back and forth through a third screw rod (51), and the mop is driven to move linearly to clean in dirty places and corners; the direct current motor (17) transmits power to the hollow rod shaft (32) through meshing of a pair of bevel gears, the hollow rod shaft (32) connects the T-shaped frame (11) with the hollow rod shaft (32) through a coupler, the telescopic rod (13) is sleeved in the T-shaped frame (11) through transition fit, the telescopic rod (13) is connected to the mop frame (14) through hinging, and the change of different lengths of the mop is realized through the exposed length change of the telescopic rod (13) and the angle change between the mop frames, so that the wall corner is cleaned;

the intelligent cleaning robot automatically familiarizes the unfamiliar environment by adopting a border learning mode, so that path planning is carried out, and the effects of traversing and minimum repetition are achieved;

in the cleaning process of the indoor intelligent cleaning robot, the obstacle information provided by the sensor comprises infrared sensors in the left, middle and right directions of the robot body and collision sensor signals on the left and right sides in front of the robot body, so that the position of the obstacle relative to the cleaning robot and whether the cleaning robot collides with the obstacle or not are obtained, and the steering condition of the robot is judged.

2. The indoor automatic-adjustment intelligent cleaning robot as claimed in claim 1, wherein the motor large bracket (33) is fixed with a U-shaped frame (52), the adjustment motor (53) is installed on the U-shaped frame (52), and the left rotating shaft (57) and the right rotating shaft (58) are both connected to the U-shaped frame (52) in a shaft manner.

3. The indoor automatic adjustment intelligent cleaning robot as claimed in claim 1, wherein the cleaning structure comprises a cleaning structure water tank outer frame (2), the front end of the cleaning structure water tank outer frame (2) is opened and a turning plate support (1) is fixed; a water tank cover (4) is fixed in the middle of the inner part of the outer frame (2) of the water tank of the cleaning structure, a cleaning through hole (49) is formed on the water tank cover (4), a water tank (44) is arranged at the bottom of the water tank cover (4), and a convex edge is formed by protruding the water tank (44) from the water tank cover (4); the middle part of the turning plate (40) is hinged on the turning plate bracket (1), the two ends of the turning plate bracket (1) are in threaded connection with a second screw rod (50), and the second screw rod (50) is connected with a screw rod stepping motor (3).

4. The indoor automatic adjustment intelligent cleaning robot according to claim 3, wherein the water tank (44) is communicated with the filter layer water inlet (9) through a pre-filter (39) and a water pump (38), the filter layer water inlet (9) is communicated with the filter layer (5), and the filter layer (5) is communicated with the water tank (44) to form a water circulation; the top of the filter layer (5) is provided with a filter layer sealing cover (6).

5. The indoor automatic-adjusting intelligent cleaning robot as claimed in claim 3, wherein a charging pile (43) is installed on the flipping board (40).

6. An indoor automatic adjustment intelligent cleaning robot as claimed in claim 1, wherein the walking mechanism comprises two driving wheels (31) and two bull's-eye wheels (29), the driving wheels (31) are connected with two driving wheel motors (25) through a driving wheel reducer (24).

7. The indoor automatic adjustment intelligent cleaning robot as claimed in claim 1, wherein a dust collection mechanism is further mounted on the bottom plate (23), the dust collection mechanism comprises a dust collector enlarged head (8), the dust collector enlarged head (8) is communicated with a dust collector middle interface (26), and the dust collector middle interface (26) is communicated with a fan (27).

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