CN108742350A - The automatic replacing options of cleaning brush and intelligent sweeping - Google Patents
The automatic replacing options of cleaning brush and intelligent sweeping Download PDFInfo
- Publication number
- CN108742350A CN108742350A CN201810685237.6A CN201810685237A CN108742350A CN 108742350 A CN108742350 A CN 108742350A CN 201810685237 A CN201810685237 A CN 201810685237A CN 108742350 A CN108742350 A CN 108742350A
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- China
- Prior art keywords
- cleaning brush
- rotating speed
- cleaning
- brush
- control unit
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
Disclose a kind of automatic replacing options of cleaning brush and intelligent sweeping.This method may include：Obtain base rpm of the cleaning brush in idle running；According to the friction coefficient of base rpm and ground material, the initial speed of each corresponding cleaning brush of ground material is obtained；It obtains the real-time rotating speed of cleaning brush at work and the rotating speed index of cleaning brush is calculated according to real-time rotating speed and initial speed；Indexing threshold value replaces cleaning brush when rotating speed index is less than index threshold.The present invention is suitable for multiple types of floors, cleaning effect more preferably, by calculating rotating speed index, realizes that cleaning brush is replaced automatically by being equipped with multiple cleaning brush.
Description
Technical field
The present invention relates to intelligent robot and smart machine control method fields, more particularly, to a kind of cleaning brush
Automatic replacing options and intelligent sweeping.
Background technology
Intelligent sweeping is that one kind being suitable for hard ground cleaning while blotting sewage, and the cleaning that sewage is taken away from the scene
Machinery has many advantages, such as environmentally friendly, energy saving, efficient.The use of every field is very universal, especially some stations, harbour,
Airport, workshop, warehouse, school, hospital, restaurant, sales field etc. have the place of wide hard ground, and the clear of manpower is replaced with machinery
Clean theory has been rooted in the hearts of the people.But existing sweeper cleaning brush is single pattern, the cleaning brush of single pattern can not fit
Multiple types of floors is answered, keeps the cleaning effect of sweeper bad.
Therefore, it is necessary to develop one kind being capable of the automatic replacing options of more changing brush head, cleaning effect more preferably cleaning brush and intelligence
It can sweeper.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Invention content
The present invention proposes a kind of automatic replacing options of cleaning brush and intelligent sweeping, which is equipped with multiple
Cleaning brush, is suitable for multiple types of floors, and cleaning effect more preferably, by calculating rotating speed index, realizes that cleaning brush is replaced automatically.
According to an aspect of the invention, it is proposed that a kind of cleaning brush automatic replacing options.The method may include：It obtains
Take base rpm of the cleaning brush in idle running；According to the friction coefficient of the base rpm and ground material, each ground is obtained
The initial speed of the corresponding cleaning brush of plane materiel matter；The real-time rotating speed of the cleaning brush at work is obtained, according to the reality
When rotating speed and the initial speed, calculate the rotating speed index of the cleaning brush；Indexing threshold value, when the rotating speed index is small
When the index threshold, the cleaning brush is replaced.
Preferably, the ground material includes：Reason stone ground, carpet and flooring surface.
Preferably, the initial speed is：
ωi=μiω0 (1)
Wherein, ωiFor the initial speed of i-th kind of ground material, μiFor the friction coefficient of i-th kind of ground material, ω0For base
Plinth rotating speed, i=a, b, c, a indicate that reason stone ground, b indicate that carpet, c indicate flooring surface.
Preferably, the rotating speed index is：
Wherein, F (ω) is rotating speed index, and ω is real-time rotating speed, AiFor the weighting coefficient of i-th kind of ground material.
According to another aspect of the invention, it is proposed that a kind of intelligent sweeping, the intelligent sweeping include：Robot sheet
Body, the driving device that robot body bottom is provided with driving wheel and is connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the machine
Device human body bottom is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, another
End is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged described
On lifter plate, described connecting rod one end is connected to the cleaning brush, and the other end is connected to the driving electricity across the through-hole
Machine；
Brush head storage silo, the brush head storage silo are arranged on the side wall of the robot body, described clear for storing
Clean brush head；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor；
TCU transfer control unit controls the replacement of cleaning head according to the rotating speed index of cleaning brush.
Preferably, further include mechanical gripper, positioning label is provided in the cleaning brush, the mechanical gripper setting exists
On the side wall of the robot body, the cleaning brush in the brush head storage silo can be captured.
Preferably, the cleaning brush is multiple, and multiple cleaning brush are identical or different, and the cleaning brush passes through
Connecting rod is connected to the lifter plate, and the cleaning brush for being connected to the same lifter plate is identical, clear from the connection of different lifter plates
Clean brush head is identical or different.
Preferably, further include cleanliness factor detection unit, the cleanliness factor detection unit includes catch basin, connecting conduit, liquid
Position instrument, driving motor Rotating speed measring sensor and timer, the tank gage and the timer are communicatively coupled to the control
Unit, the tank gage are arranged in the catch basin, and the catch basin is arranged in the robot body, are led by connection
Pipe is connected to the cleaning brush across the connecting rod, and the driving motor Rotating speed measring sensor is for measuring the driving
The rotating speed of motor.
Preferably, further include floor type analytic unit, the floor type analytic unit includes depth transducer and color
The connection in the cleaning brush and the connecting rod is arranged in damp sensor, the depth transducer and the color and luster sensor
Place, is communicatively coupled to described control unit.
Preferably, further include detergent delivery unit, the detergent delivery unit includes detergent storage tank, control
Valve, catheter, the detergent storage tank are arranged on the lifter plate, and one end of the catheter is communicated in by control valve
The detergent storage tank, the other end are connected to the cleaning brush across the connecting rod, and the control valve is communicatively coupled to
Described control unit.
The beneficial effects of the present invention are：
1) intelligent sweeping of the application is connected to multiple lifter plates by multiple cleaning brush, and lifter plate can band
Dynamic cleaning brush rises or falls, and then it is different types of that intelligent sweeping can be made to be cleared up by different cleaning brush
Face, cleaning effect is more preferably；
2) intelligent sweeping of the application prestores multiple cleaning brush by the setting of brush head storage silo, is using
In cleaning brush cleanliness factor reduce or damage when, field replaceable cleaning brush improves the clean rate of intelligent sweeping；
3) by calculating rotating speed index, realize that cleaning brush is replaced automatically.
The present invention has other characteristics and advantages, these characteristics and advantages are from the attached drawing and subsequent tool being incorporated herein
It will be apparent, or will carry out in the drawings and the subsequent detailed description incorporated herein in body embodiment
Statement in detail, the drawings and the detailed description together serve to explain specific principles of the invention.
Description of the drawings
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows the flow chart of the step of cleaning brush according to the present invention automatic replacing options.
Fig. 2 shows the schematic diagrams of intelligent sweeping according to an embodiment of the invention.
Fig. 3 shows the vertical view of converter section according to an embodiment of the invention.
Reference sign
1, robot body；2, driving wheel；3, disk；4, lifter plate；5, telescopic rod；6, through-hole；7, cleaning section；8, it connects
Bar；9, cleaning brush；10, brush head storage silo；11, mechanical gripper；12, cleanliness factor detection unit；13, catch basin；14, connection is led
Pipe；15, tank gage；16, laser range finder.
Specific implementation mode
The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth here.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Fig. 1 shows the flow chart of the step of cleaning brush according to the present invention automatic replacing options.
According to an aspect of the invention, it is proposed that a kind of cleaning brush automatic replacing options may include：Step 101, it obtains
Take base rpm of the cleaning brush in idle running；Step 102, it according to the friction coefficient of base rpm and ground material, obtains every
The initial speed of the corresponding cleaning brush of kind ground material；Step 103, the real-time rotating speed of cleaning brush at work, root are obtained
Rotating speed and initial speed when factually calculate the rotating speed index of cleaning brush；Step 104, indexing threshold value, when rotating speed index is small
When index threshold, cleaning brush is replaced.
In one example, ground material includes：Reason stone ground, carpet and flooring surface.
In one example, initial speed is：
ωi=μiω0 (1)
Wherein, ωiFor the initial speed of i-th kind of ground material, μiFor the friction coefficient of i-th kind of ground material, ω0For base
Plinth rotating speed, i=a, b, c, a indicate that reason stone ground, b indicate that carpet, c indicate flooring surface.
In one example, rotating speed index is：
Wherein, F (ω) is rotating speed index, and ω is real-time rotating speed, AiFor the weighting coefficient of i-th kind of ground material.
Specifically, the automatic replacing options of cleaning brush according to the present invention may include：Cleaning brush is obtained in idle running
Base rpm；According to the friction coefficient of base rpm and ground material, each corresponding cleaning brush of ground material is obtained
Initial speed is formula (1), wherein ground material includes：Reason stone ground, carpet and flooring surface；Obtain cleaning brush
Real-time rotating speed at work, according to real-time rotating speed and initial speed, the rotating speed index for calculating cleaning brush is formula (2)；If
Determine index threshold, when rotating speed index is less than index threshold, replaces cleaning brush.
A kind of intelligent sweeping is provided according to an aspect of the present invention, which includes：Robot body, machine
The driving device that device human body bottom is provided with driving wheel and is connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the machine
Device human body bottom is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, another
End is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged described
On lifter plate, described connecting rod one end is connected to the cleaning brush, and the other end is connected to the driving electricity across the through-hole
Machine；
Brush head storage silo, the brush head storage silo are arranged on the side wall of the robot body, described clear for storing
Clean brush head；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor；
TCU transfer control unit controls the replacement of cleaning head according to the rotating speed index of cleaning brush.
Specifically, cleaning section is provided with multiple cleaning brush, and multiple cleaning brush are connected to lifter plate, and lifter plate can
By the stretching and contraction of telescopic rod, to drive cleaning brush to be promoted or landed, in intelligent sweeping in use, according to ground kind
The difference of class, control unit control the promotion and landing of lifter plate, select the cleaning brush suitable for current application scene to ground
It is cleaned, cleaning effect more preferably, improves cleaning efficiency, and suitable cleaning brush is selected cleaning brush can be prevented to ground
Cause wear-out failure.
Specifically, TCU transfer control unit controls the renewal reward theorem of cleaning head according to the rotating speed index of cleaning brush, wherein
Obtain base rpm of the cleaning brush in idle running；According to the friction coefficient of base rpm and ground material, each ground is obtained
The initial speed of the corresponding cleaning brush of material is formula (1), wherein ground material includes：Reason stone ground, carpet and ground
Plate ground；The real-time rotating speed of cleaning brush at work is obtained, according to real-time rotating speed and initial speed, calculates turning for cleaning brush
Fast index is formula (2)；Indexing threshold value replaces cleaning brush when rotating speed index is less than index threshold.
Specifically, by the setting of brush head storage silo, intelligent sweeping itself is equipped with the cleaning brush of multiple cleanings, in intelligence
When cleaning brush breakage or cleanliness factor reduce during energy sweeper use, cleaning brush can be replaced on the spot, improved cleaning and imitated
Rate.
Specifically, for cleaning brush according to the difference of cleaning floor type, cleaning brush can be banister brush head, nylon bruss
Head, bristle brush head and needle stand brush head, ground can be reason stone ground, carpet, brick flooring and flooring surface, according to ground
It is the state of the art that type difference, which selects different brush heads, and details are not described herein.
Preferably, further include mechanical gripper, positioning label, the mechanical gripper are provided in the cleaning brush
It is arranged on the side wall of the robot body, the cleaning brush in the brush head storage silo can be captured.
Specifically, in the case where cleaning brush cleanliness factor reduces or damages, control unit control machinery handgrip crawl brush
Cleaning brush in head storage silo, places it on ground, and driving motor drives the unloading of connecting rod Negative selection to need replacing
Cleaning brush, then drive connecting rod rotate in the forward direction, be connected to cleanliness factor it is high, can normal use cleaning brush, complete
The replacement of cleaning brush, last control unit control machinery handgrip capture the cleaning brush changed, and are stored to brush head and are stored
Storehouse.
Preferably, the cleaning brush is multiple, and multiple cleaning brush are identical or different, the cleaning brush
Head is connected to the lifter plate by connecting rod, and the cleaning brush for being connected to the same lifter plate is identical, connects from different lifter plates
The cleaning brush connect is identical or different.
It is highly preferred that it is identical as the cleaning brush of same lifter plate connection, from the cleaning brush of different lifter plates connection
Difference enables intelligent sweeping to be suitable for the cleaning of multiple types of floors, uses different cleaning brush to different ground, prevents
Cleaning brush wears ground, makes cleaning effect more preferably.
Preferably, further include cleanliness factor detection unit, the cleanliness factor detection unit includes catch basin, connects and lead
Pipe, tank gage, driving motor Rotating speed measring sensor and timer, the tank gage and the timer are communicatively coupled to described
Control unit, the tank gage are arranged in the catch basin, and the catch basin is arranged in the robot body, passes through company
It connects conduit and is connected to the cleaning brush across the connecting rod, the driving motor Rotating speed measring sensor is described for measuring
The rotating speed of driving motor.
Specifically, by the setting of tank gage and timer, control unit detects water storage tank liquid in the unit interval
Decrease speed；Driving motor idler revolutions are detected by driving motor Rotating speed measring sensor, cleaning brush is controlled with rear telescopic rod
Head is contacted with ground, detects driving motor load speed；When decrease speed is lower in the unit interval of liquid, driving motor loads
When rotating speed reduces, judges that the cleaning brush cleanliness factor is low, need replacing cleaning brush.
Preferably, further include floor type analytic unit, the floor type analytic unit includes depth sensing
Device and color and luster sensor, the depth transducer and the color and luster sensor are arranged in the cleaning brush and the connecting rod
Junction is communicatively coupled to described control unit.
Specifically, according to the difference of floor type, control unit controls lifter plate and declines, and is used in Current terrestrial and is adapted
Cleaning brush complete cleaning, by the setting of floor type analytic unit, control unit, which can be known, current to be needed to clear up
Floor type, by the setting of depth transducer, detection cleaning ground whether there is difference in height；Pass through setting for color and luster sensor
It sets, detection is with the rate of change of the walking ground color of robot body and with the presence or absence of color and luster period of change；When ground is deposited
In difference in height, rate of color change it is high and there is no when color and luster period of change, processing unit judges Current terrestrial for reason stone ground；
When ground is there are difference in height, color and luster rate of color change is low and there are color and luster period of change and color and luster periods of change in short-term, judgement
Current terrestrial is flooring surface；When there are differences in height on ground, color and luster rate of color change is low and there are color and luster period of change and colors
When damp period of change is long, judgement Current terrestrial is ground brick flooring；When difference in height is not present in ground, judgement Current terrestrial is ground
Blanket ground.
Preferably, further include detergent delivery unit, the detergent delivery unit include detergent storage tank,
Control valve, catheter, the detergent storage tank are arranged on the lifter plate, and one end of the catheter is connected by control valve
The detergent storage tank is passed through, the other end is connected to the cleaning brush, the control valve communication link across the connecting rod
It is connected to described control unit.
Specifically, control unit control control valve unlatching and its open amplitude, and then control detergent supply and its
Supply amount.
It is highly preferred that further including cleaning brush memory block, the periphery of the cleaning brush memory block is provided with positioning label,
The positioning label communication is connected to described control unit, and cleaning brush memory block memory is placed with spare brush head.
It is highly preferred that control unit knows the location information of positioning label, when the cleaning brush being equipped in brush head storage silo
After whole uses, control unit control robot body marches to cleaning brush memory block, ressembles cleaning brush, robot
Ontology can also replace cleaning brush in cleaning brush memory block.
It is highly preferred that further including laser range finder, the laser range finder is arranged on the side wall of the robot body,
It is communicatively coupled to described control unit.
Specifically, by the setting of laser range finder, robot measurement ontology prevents machine at a distance from its peripheral obstacle
Device human body collides metope or pedestrian.
Embodiment
A concrete application example is given below in the scheme and its effect of the embodiment of the present invention for ease of understanding.This field
It should be understood to the one skilled in the art that the example is only for the purposes of understanding the present invention, any detail is not intended to be limited in any way
The system present invention.
The automatic replacing options of cleaning brush according to the present invention may include：Basis of the cleaning brush in idle running is obtained to turn
Speed；According to the friction coefficient of base rpm and ground material, the initial speed of each corresponding cleaning brush of ground material is obtained
For formula (1), wherein ground material includes：Reason stone ground, carpet and flooring surface；Obtain cleaning brush at work
Real-time rotating speed, according to real-time rotating speed and initial speed, the rotating speed index for calculating cleaning brush is formula (2)；Indexing threshold
Value replaces cleaning brush when rotating speed index is less than index threshold.
Fig. 2 shows the schematic diagrams of intelligent sweeping according to an embodiment of the invention.
Fig. 3 shows the vertical view of converter section according to an embodiment of the invention.
As shown in Fig. 2-Fig. 3, which includes：
Robot body 1, the driving device that 1 bottom of robot body is provided with driving wheel 2 and is connect with the driving wheel；
Converter section, the converter section include disk 3, multiple lifter plates 4 and multiple telescopic rods 5, and the disk 3 is arranged in institute
1 bottom of robot body is stated, multiple through-holes 6 are provided on the disk 3,5 one end of the telescopic rod is connected to the robot
Ontology 1, the other end are connected to the lifter plate 4 being arranged at 3 top of the disk；
Cleaning section 7, the cleaning section 7 include connecting rod 8, cleaning brush 9 and driving motor, and the driving motor setting exists
On the lifter plate 5,8 one end of the connecting rod is connected to the cleaning brush 9, and the other end is connected to institute across the through-hole 6
State driving motor；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod 5 and driving electricity
Machine.
Wherein, the cleaning brush 9 is multiple, and multiple cleaning brush 9 are identical or different, and the cleaning brush 9 is logical
It crosses connecting rod 8 and is connected to the lifter plate 4, the cleaning brush 9 for being connected to the same lifter plate 4 is identical, connects from different lifter plates 4
The cleaning brush 9 connect is identical or different.
Wherein, TCU transfer control unit controls the renewal reward theorem of cleaning head, wherein obtain according to the rotating speed index of cleaning brush
Take base rpm of the cleaning brush in idle running；According to the friction coefficient of base rpm and ground material, each ground plane materiel is obtained
The initial speed of the corresponding cleaning brush of matter is formula (1), wherein ground material includes：Reason stone ground, carpet and floor
Ground；It obtains the real-time rotating speed of cleaning brush at work and the rotating speed of cleaning brush is calculated according to real-time rotating speed and initial speed
Index is formula (2)；Indexing threshold value replaces cleaning brush when rotating speed index is less than index threshold.
Wherein, further include cleaning brush memory block (not shown), the periphery of the cleaning brush memory block is provided with positioning
Label, the positioning label communication are connected to described control unit, and cleaning brush memory block memory is placed with spare brush head.
Wherein, further include cleanliness factor detection unit 12, the cleanliness factor detection unit 12 includes catch basin 13, connecting conduit
14, tank gage 15, driving motor Rotating speed measring sensor and timer, the tank gage 15 and the timer are communicatively coupled to
Described control unit, the tank gage 15 are arranged in the catch basin 13, and the catch basin 13 is arranged in the robot sheet
In body 1, the cleaning brush 9 is connected to across the connecting rod 8 by connecting conduit 14, the driving motor Rotating speed measring passes
Sensor is used to measure the rotating speed of the driving motor.
Wherein, further include floor type analytic unit (not shown), the floor type analytic unit includes depth sensing
Device and color and luster sensor, the depth transducer and the color and luster sensor are arranged in the cleaning brush and the connecting rod
Junction is communicatively coupled to described control unit.
Wherein, detergent delivery unit (not shown), the detergent delivery unit include detergent storage tank, control
Valve, catheter, the detergent storage tank are arranged on the lifter plate 4, and one end of the catheter is connected to by control valve
In the detergent storage tank, the other end connects 8 across the connecting rod and passes to the cleaning brush 9, the control valve communication link
It is connected to described control unit.
Wherein, further include brush head storage silo 10, the side wall in the robot body 1 is arranged in the brush head storage silo 10
On, for storing the cleaning brush 9.
Wherein, further include mechanical gripper 11, positioning label is provided in the cleaning brush 9, the mechanical gripper sets 11
It sets on the side wall of the robot body 1, in the brush head storage silo 10 cleaning brush can be captured.
Wherein, further include laser range finder 16, the side wall in the robot body 1 is arranged in the laser range finder 16
On, it is communicatively coupled to described control unit.
Wherein, the driving wheel 2 is two, is set to 1 two bottom sides of the robot body, the converter section is set to
Between two driving wheels 2.
In conclusion the present invention is suitable for multiple types of floors, cleaning effect more preferably, passes through by being equipped with multiple cleaning brush
Rotating speed index is calculated, realizes that cleaning brush is replaced automatically.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The advantageous effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (10)
1. a kind of automatic replacing options of cleaning brush, including：
Obtain base rpm of the cleaning brush in idle running；
According to the friction coefficient of the base rpm and ground material, the initial of each corresponding cleaning brush of ground material is obtained
Rotating speed；
The real-time rotating speed of the cleaning brush at work is obtained, according to the real-time rotating speed and the initial speed, calculates institute
State the rotating speed index of cleaning brush；
Indexing threshold value replaces the cleaning brush when the rotating speed index is less than the index threshold.
2. the automatic replacing options of cleaning brush according to claim 1, wherein the ground material includes：Reason stone ground,
Carpet and flooring surface.
3. the automatic replacing options of cleaning brush according to claim 2, wherein the initial speed is：
ωi=μiω0 (1)
Wherein, ωiFor the initial speed of i-th kind of ground material, μiFor the friction coefficient of i-th kind of ground material, ω0Based on turn
Speed, i=a, b, c, a indicate that reason stone ground, b indicate that carpet, c indicate flooring surface.
4. the automatic replacing options of cleaning brush according to claim 3, wherein the rotating speed index is：
Wherein, F (ω) is rotating speed index, and ω is real-time rotating speed, AiFor the weighting coefficient of i-th kind of ground material.
5. a kind of intelligent sweeping, the intelligent sweeping include：Robot body, robot body bottom be provided with driving wheel and
The driving device being connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the robot
Body bottom portion is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, and the other end connects
It is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged in the lifting
On plate, described connecting rod one end is connected to the cleaning brush, and the other end is connected to the driving motor across the through-hole；
Brush head storage silo, the brush head storage silo is arranged on the side wall of the robot body, for storing the cleaning brush
Head；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor.
TCU transfer control unit controls the replacement of cleaning head according to the rotating speed index of cleaning brush.
6. intelligent sweeping according to claim 5, which is characterized in that further include mechanical gripper, in the cleaning brush
It is provided with positioning label, the mechanical gripper is arranged on the side wall of the robot body, can capture the brush head storage
Cleaning brush in storehouse.
7. intelligent sweeping according to claim 5, which is characterized in that the cleaning brush be it is multiple, it is multiple described clear
Clean brush head is identical or different, and the cleaning brush is connected to the lifter plate by connecting rod, is connected to the same lifter plate
Cleaning brush is identical, identical or different from the cleaning brush of different lifter plates connection.
8. intelligent sweeping according to claim 5, which is characterized in that further include cleanliness factor detection unit, the cleaning
It includes catch basin, connecting conduit, tank gage, driving motor Rotating speed measring sensor and timer, the liquid level to spend detection unit
Instrument and the timer are communicatively coupled to described control unit, and the tank gage is arranged in the catch basin, the catch basin
It is arranged in the robot body, the cleaning brush, the driving is connected to across the connecting rod by connecting conduit
Motor speed detection sensor is used to measure the rotating speed of the driving motor.
9. intelligent sweeping according to claim 5, which is characterized in that further include floor type analytic unit, describedly
Face floristic analysing unit includes depth transducer and color and luster sensor, and the depth transducer and color and luster sensor setting exist
The junction of the cleaning brush and the connecting rod, is communicatively coupled to described control unit.
10. intelligent sweeping according to claim 5, which is characterized in that further include detergent delivery unit, the cleaning
Agent feed unit includes detergent storage tank, control valve, catheter, and the detergent storage tank is arranged on the lifter plate,
One end of the catheter is communicated in the detergent storage tank by control valve, and the other end is connected to institute across the connecting rod
Cleaning brush is stated, the control valve is communicatively coupled to described control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810685237.6A CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810685237.6A CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108742350A true CN108742350A (en) | 2018-11-06 |
| CN108742350B CN108742350B (en) | 2021-04-06 |
Family
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| CN201810685237.6A Active CN108742350B (en) | 2018-06-28 | 2018-06-28 | Automatic cleaning brush head replacement method and intelligent sweeper |
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| CN110558898A (en) * | 2019-07-23 | 2019-12-13 | 高殷沛 | Automatic brush changing device of sweeping robot |
| WO2020125774A1 (en) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robotic cleaning system, base station, and control method |
| CN115381351A (en) * | 2022-08-30 | 2022-11-25 | 南京工业大学 | Intelligent high-altitude cleaning method and system |
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| CN108742350B (en) | 2021-04-06 |
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Inventor after: Ai Yanqing Inventor after: Zhao Feifei Inventor after: Ruan Yangyang Inventor after: Yang Zhe Inventor after: Hao Jianmei Inventor after: Zhang Qianyi Inventor after: Sun Yinghui Inventor before: Ai Yanqing Inventor before: Zhao Feifei Inventor before: Yang Zhe Inventor before: Hao Jianmei Inventor before: Zhang Qianyi Inventor before: Sun Yinghui |
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Effective date of registration: 20220228 Address after: 273515 No. 368 Ying Xi Road, Bei Su Town, Zoucheng City, Jining, Shandong Patentee after: ZOUCHENG YINGDUO MECHANICAL AND ELECTRICAL TECHNOLOGY CO.,LTD. Address before: 241000 1, building 4, phase two, Service Outsourcing Industrial Park, Yijiang high tech Industrial Development Zone, Wuhu, Anhui Patentee before: WUHU TAILING INFORMATION TECHNOLOGY Co.,Ltd. |