CN109691935A - Clean robot and its application method between a kind of Intelligent sanitary - Google Patents
Clean robot and its application method between a kind of Intelligent sanitary Download PDFInfo
- Publication number
- CN109691935A CN109691935A CN201910166589.5A CN201910166589A CN109691935A CN 109691935 A CN109691935 A CN 109691935A CN 201910166589 A CN201910166589 A CN 201910166589A CN 109691935 A CN109691935 A CN 109691935A
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- Prior art keywords
- module
- motion module
- crawler
- microprocessor
- clean robot
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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
- A47L11/28—Floor-scrubbing 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
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
- E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
- E03D9/002—Automatic cleaning devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
The invention discloses clean robot and its application methods between a kind of Intelligent sanitary, including mechanical movement module, hoistable platform, power supply and electric power detection module, OpenMV visual identity camera, laser radar, first layer bottom plate, real-time monitoring camera, microprocessor module, main crawler motion module, up/down steps crawler motion module, it is characterized by: the manipulator motion module is mounted on the top of hoistable platform, the end of the manipulator motion module is equipped with direct current generator, spray head and mop, the beneficial effects of the present invention are: cleaning is cleaner, disinfection and sterilization is more thorough, the labour of further liberation toilet dust alleviation work personnel simultaneously, and alleviate the work load of staff.
Description
Technical field
The present invention relates to robot field, clean robot and its application method between specially a kind of Intelligent sanitary.
Background technique
In recent years, with the raising of science and technology, expanding economy, construction (market, hospital, school, the time of large-scale public place
Station etc.), people the bring that enjoys life it is happy with facilitate while, the environment of large-scale public place also proposed higher
Requirement.In nearest a investigation, it has been recognized that large-scale public place environment of toilet is very untidy.According to the U.S.
A research point out that on the urinal inner wall just punched, the quantity of bacterium is still up to 100,000, and the cyclone in urinal can be with
It takes germ and microorganism to 6 meters high aerial, and suspends and be up to several hours in the sky, if it is in public
Words, cross-infection it is very risky, it is easier to give rise to diseases.As it can be seen that the sterilization of urinal, disinfection are for large-scale public place
Be a highly important thing for each family.But the cleaning of closestool, sterilization, disinfection again be job
Greatly, the very long work of elapsed time, in modern quickly rhythm of life, people are just not very willing periodic cleaning to amount.This hair
Clean robot is studied and is made aiming at this important social concern between bright Intelligent sanitary, from solving from the root
Certainly people clear up urinal bring puzzlement, thus alleviate people between clearing up on workload.
Automated cleaning, sterilization, disinfection for sitting urinal and crouching formula urinal, modern people are also in the side of constantly searching for
The appearance of method, Intelligent toilet cover and intelligent closestool is exactly best verifying.Although Intelligent toilet cover and intelligent closestool exist to people
The cleaning of closestool, sterilization, disinfection aspect have certain help, but modern Intelligent toilet cover and intelligent closestool possess it is many
The shortcomings that: closestool is difficult to clean completely；There is the danger of electric leakage in its use process, and there is also the danger of dry combustion method；Intelligence
Can the cover board of toilet lid not and be suitble to all closestools, there is certain limitation；Modern Intelligent toilet cover is expensive, adds
Later period maintenance cost it is high, general family can not take.Clean robot is exactly needle between the Intelligent sanitary that the present invention designs
To these problems, a Intelligent cleaning robot independently of except general closestool is designed, in entire link all greatly
Manpower has been liberated, improved work efficiency, saved cost, there is good market prospects and diversified developing direction.
Summary of the invention
The purpose of the present invention is to provide clean robot and its application methods between a kind of Intelligent sanitary, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the invention provides the following technical scheme: clean robot between a kind of Intelligent sanitary, including machine
Tool motion module, hoistable platform, power supply and electric power detection module, OpenMV visual identity camera, laser radar, first layer bottom
Plate, real-time monitoring camera, microprocessor module, main crawler motion module, up/down steps crawler motion module, the mechanical arm
Motion module is mounted on the top of hoistable platform, the end of the manipulator motion module be equipped with direct current generator, spray head and
Mop, the power output end of the direct current generator is fixed with brush, stepper motor is fixedly mounted on the first layer bottom plate, described
The power output end part of stepper motor is provided with plum blossom shaft coupling and holds, and the plum blossom shaft coupling, which is held, is fixedly installed with screw rod, described
The top of screw rod through hoistable platform and is fixedly connected with fixed platform by fixing bearing, is between the screw rod and hoistable platform
It is threadedly coupled, the quantity of the spray head is two, and the quantity of the screw rod is three and arranges in triangular shape, the first layer bottom
The top of plate is also fixedly installed with laser radar and microprocessor module, and the bottom of the fixed platform is fixedly installed with real-time prison
Camera is controlled, adjustment motor is fixedly installed at the top of the fixed platform, the power output end part of the adjustment motor is solid
Surely OpenMV visual identity camera is connected, is fixedly installed with liquid storage box below the rear end of the first layer bottom plate, it is described
Power supply and electric power detection module are then fixedly mounted below the front end of first layer bottom plate, the main crawler motion module, upper leave from office
Rank crawler motion module is fixedly mounted in the fixed plate of first layer bottom plate two sides, also solid below the rear end of the first layer bottom plate
Dingan County is equipped with lifting motor, is threadedly coupled charger on the swingle of the lifting motor.
Preferably, the manipulator motion module is constituted especially by five steering engines, is connected between the steering engine by steering engine
Fitting is attached, wherein first steering engine is vertical direction placement, second to the 5th steering engine is that horizontal direction extends
Setting.
Preferably, the micro treatment module is equipped with two kinds of processors of STM32 and Cortex-A53, the STM32 and
Cortex-A53 microprocessor is electrically connected main crawler motion module and up/down steps crawler motion module, the Cortex-A53
Microprocessor signals input connection laser radar and signal output connection STM32 micro process, the described and micro- place Cortex-A53
Manage device signal input connection real-time monitoring camera, the micro treatment module signal input connection OpenMV visual identity camera shooting
Head.
Preferably, every crawler belt of the main crawler motion module and up/down steps crawler motion module includes driving wheel
And controlled and adjusted by PWM, the track surface of the main crawler motion module and up/down steps crawler motion module is equal
By anti-skid chequer, the driving motor of the main crawler motion module and up/down steps crawler motion module is the motor of 24V for setting.
Preferably, the power supply and electric power detection module include 6S, rechargeable battery, DC-DC power module, the AC- of 22.2V
DC module, charge switch power supply adaptor, power switch, the power supply and electric power detection module are additionally provided with buzzer.
Preferably, the liquid storage box is made of two independent water tanks and corresponding suction pump, the left side water tank
A is cleaning solution storage box, and right side is clean water storage box, and the suction pump is connect by conduit with manipulator motion module.
Clean robot and its application method between a kind of Intelligent sanitary, which is characterized in that specifically includes the following steps:
S1: the laser radar is scanned ambient enviroment, identifies to barrier, and processing information is transferred to
The processing of Cortex-A53 processor；
S2: the data that the Cortex-A53 processor exports laser radar are handled, and are divided ambient enviroment
Analysis, and treated information is transferred to STM32 micro process and is analyzed；
S3: the microprocessor will be sent to OpenMV vision by the information after the completion of processing by way of instruction to be known
Other camera, the OpenMV visual identity camera carry out precise acquisition and identification to ambient enviroment image according to instruction and will
Data are transferred to microprocessor；
S4: the microprocessor is handled entire information and is calculated optimal path and then controls main caterpillar drive mould
Block and up/down steps crawler motion module are travelled to the job site of needs；
S5: after clean robot reaches corresponding job site, microprocessor 7 controls manipulator motion module and carries out phase
The cleaning answered；
S6: when the power supply and electric power detection module detect not enough power supply, buzzer is sounded an alarm, when power supply with
Electric power detection module detects the whole process of robot repetition S1-S4 when electricity is close to zero, then completes to itself
Charging.
Preferably, after entire robot needs the step of charging and completing S1-S4, the micro treatment module controls main shoe
Band motion module and up/down steps crawler motion module sail robot drive to socket position, and the lifting motor is by charger tune
The whole position to socket flush, then micro treatment module control robot continues traveling and charger is inserted into socket
Portion.
Compared with prior art, the beneficial effects of the present invention are: mechanical structure and software algorithm in robot make wound
New and improvement realizes the cleaning to urinal by the mass motion control process using robot, and robot can be completely in nothing
People cleans toilet and urinal in the case where intervening, and discharges manpower completely and reduces the investment of cost, robot
The operating mode mutually merged for designing lifting platform and mechanical arm, can also play the role of mutually promoting, the intelligence is defended
Clean robot utilizes the big data processing capacity of Cortex-A53 embeded processor between life, makes it have complex information processing
Ability, the ability of optimization and the low feature of error rate, accomodation ground and the clean efficiency of urinal, Yi Jifang can be improved
Only the problems such as cleaning error, laser radar is installed by the robot, for realizing the barrier avoiding function of robot, and can optimize
Algorithm realize the ability of more humanized, diversified processing problem, realize that cleaning is more clean, disinfection and sterilization is more thorough
Bottom, while the labour of further liberation toilet dust alleviation work personnel, and alleviate the work load of staff.
Detailed description of the invention
Fig. 1 is structure of the invention main view；
Fig. 2 is that working principle of the present invention illustrates schematic diagram；
Fig. 3 is back structures schematic diagram of the present invention；
Fig. 4 is structure of the invention enlarged drawing.
In figure: 1 manipulator motion module, 2 hoistable platforms, 3 power supplys and electric power detection module, 4OpenMV visual identity are taken the photograph
As leaving office on head, 5 laser radars, 6 first layer bottom plates, 7 real-time monitoring cameras, 8 microprocessors, 9 main crawler motion modules, 10
Rank crawler motion module, 11 direct current generators, 12 spray heads, 13 mops, 14 brushes, 15 stepper motors, 16 plum blossom shaft couplings hold, 17
Bar, 18 fixing bearings, 19 fixed platforms, 20 adjustment motors, 21 liquid storage boxes, 22 lifting motors, 23 chargers.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the present invention provides a kind of technical solution: clean robot between a kind of Intelligent sanitary, including machinery
Motion module 1, hoistable platform 2, power supply and electric power detection module 3, OpenMV visual identity camera 4, laser radar 5, first
Layer bottom plate 6, real-time monitoring camera 7, microprocessor module 8, main crawler motion module 9, up/down steps crawler motion module 10,
The manipulator motion module 1 is mounted on the top of hoistable platform 2, and the end of the manipulator motion module 1 is equipped with directly
Galvanic electricity machine 11, spray head 12 and mop 13, the power output end of the direct current generator 11 are fixed with brush 14, the first layer bottom plate
Stepper motor 15 is fixedly mounted on 6, the power output end part of the stepper motor 15 is provided with plum blossom shaft coupling and holds 16, the plum
Flower shaft coupling, which is held, is fixedly installed with screw rod 17 on 16, the top of the screw rod 17 is through hoistable platform 2 and solid by fixing bearing 18
Surely it is connected and fixed platform 19, is threadedly coupled between the screw rod 17 and hoistable platform 2, the quantity of the spray head 12 is two,
The quantity of the screw rod 17 is three and arranges in triangular shape that the top of the first layer bottom plate 6 is also fixedly installed with laser thunder
Up to 5 and microprocessor module 8, the bottom of the fixed platform 19 is fixedly installed with real-time monitoring camera 7, the fixed platform
19 top is fixedly installed with adjustment motor 20, and the power output end part of the adjustment motor 20 is fixedly connected with OpenMV vision
It identifies camera 4, liquid storage box 21 is fixedly installed with below the rear end of the first layer bottom plate 6, the power supply and electricity are examined
It surveys module 3 to be then fixedly mounted below the front end of first layer bottom plate 6, the main crawler motion module 9, up/down steps caterpillar drive
Module 10 is fixedly mounted in the fixed plate of 6 two sides of first layer bottom plate, is also fixedly mounted below the rear end of the first layer bottom plate 6
Have a lifting motor 22, charger 23 be threadedly coupled on the swingle of the lifting motor 22, it is notable that the power supply with
Electric power detection module 3 includes 6S, the rechargeable battery of 22.2V, DC-DC power module, AC-DC module, charge switch power adaptation
Device, power switch, the power supply and electric power detection module 3 are additionally provided with buzzer, and the liquid storage box 21 is by two independences
Water tank and corresponding suction pump constitute, the left side water tank is cleaning solution storage box, and right side is clean water storage box, described
Suction pump is connect by conduit with manipulator motion module 1.
It is worth noting that, the manipulator motion module 1 is constituted especially by five steering engines, pass through between the steering engine
Steering engine connector is attached, wherein first steering engine is vertical direction placement, second to the 5th steering engine is horizontal direction
Be extended.
It is worth noting that, the micro treatment module 8 is equipped with two kinds of processors of STM32 and Cortex-A53, it is described
STM32 and Cortex-A53 microprocessor is electrically connected main crawler motion module 9 and up/down steps crawler motion module 10, described
Cortex-A53 microprocessor signals input connection laser radar 5 and signal output connection STM32 micro process, it is described and
Cortex-A53 microprocessor signals input connection real-time monitoring camera 7,8 signal of the micro treatment module input connection
OpenMV visual identity camera 4.
It is worth noting that, every crawler belt of the main crawler motion module 9 and up/down steps crawler motion module 10 is equal
It is controlled and is adjusted comprising driving wheel and by PWM, the main crawler motion module 9 and up/down steps crawler motion module 10
Track surface be respectively provided with by anti-skid chequer, the driving of the main crawler motion module 9 and up/down steps crawler motion module 10 electricity
Machine is the motor of 24V.
Clean robot and its application method between a kind of Intelligent sanitary, specifically includes the following steps: S1: the laser radar
5 pairs of ambient enviroments are scanned, and are identified to barrier, and processing information is transferred to the processing of Cortex-A53 processor；
S2: the data that the Cortex-A53 processor exports laser radar 5 are handled, and are divided ambient enviroment
Analysis, and treated information is transferred to STM32 micro process and is analyzed；
S3: the microprocessor 7 will be sent to OpenMV vision by way of instruction by the information after the completion of processing
Identify that camera 4, the OpenMV visual identity camera 4 carry out precise acquisition and identification to ambient enviroment image according to instruction
And transfer data to microprocessor 7；
S4: the microprocessor 7 is handled entire information and is calculated optimal path and then controls main caterpillar drive
The job site that module 9 and the traveling of up/down steps crawler motion module 10 extremely need；
S5: after clean robot reaches corresponding job site, microprocessor 7 controls manipulator motion module 1 and carries out
Corresponding cleaning；
S6: when the power supply and electric power detection module 3 detect not enough power supply, buzzer is sounded an alarm, and works as power supply
Robot repeats the whole process of S1-S4 when detecting that electricity is close to zero with electric power detection module, then completes to certainly
The charging of body.
It is worth noting that, after entire robot needs the step of charging and completing S1-S4, the micro treatment module 8
It controls main crawler motion module 9 and up/down steps crawler motion module 10 to sail robot drive to socket position, the lifting electricity
Machine 22 adjusts charger 23 to the position with socket flush, and then the control of micro treatment module 8 robot continues traveling and will
Charger 23 is inserted into inside socket.
In the present invention, the information of laser radar scanning is handled using microprocessor module, and is analyzed, is constructed
Map completes avoidance and positioning function, and microprocessor module will also handle OpenMV visual identity camera data information, and complete
Each urinal and each position are accurately identified, the signal of processing is sent to mechanical arm and corresponding direct current generator carries out phase
The movement answered, the steering engine on mechanical arm implements the regulation in the case of varying environment, so as to complete to clean the toilet urinal and ground
Operation, while microprocessor module handles real-time monitoring camera information, communicate information to user terminal host computer carry out it is real
When monitoring and control.The image information of laser radar and OpenMV feedback is handled and is utilized in terms of motion profile control
Corresponding algorithm completes the planning path to robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. clean robot between a kind of Intelligent sanitary, including mechanical movement module (1), hoistable platform (2), power supply and electric power detection
Module (3), OpenMV visual identity camera (4), laser radar (5), first layer bottom plate (6), real-time monitoring camera (7),
Microprocessor module (8), main crawler motion module (9), up/down steps crawler motion module (10), it is characterised in that: the machine
Tool arm motion module (1) is mounted on the top of hoistable platform (2), and the end of the manipulator motion module (1) is equipped with directly
The power output end of galvanic electricity machine (11), spray head (12) and mop (13), the direct current generator (11) is fixed with brush (14), described
Stepper motor (15) are fixedly mounted on first layer bottom plate (6), the power output end part of the stepper motor (15) is provided with plum
Flower shaft coupling is held (16), and the plum blossom shaft coupling is held to be fixedly installed with screw rod (17) on (16), and the top of the screw rod (17) is through liter
Drop platform (2) is simultaneously fixedly connected fixed platform (19) by fixing bearing (18), between the screw rod (17) and hoistable platform (2)
To be threadedly coupled, the quantity of the spray head (12) is two, and the quantity of the screw rod (17) is three and arranges in triangular shape, institute
The top for stating first layer bottom plate (6) is also fixedly installed with laser radar (5) and microprocessor module (8), the fixed platform
(19) bottom is fixedly installed with real-time monitoring camera (7), and adjustment electricity is fixedly installed at the top of the fixed platform (19)
The power output end part of machine (20), adjustment motor (20) is fixedly connected with OpenMV visual identity camera (4), and described the
Liquid storage box (21) are fixedly installed with below the rear end of one layer of bottom plate (6), the power supply is then fixed with electric power detection module (3)
It is mounted below the front end of first layer bottom plate (6), the main crawler motion module (9), up/down steps crawler motion module (10)
It is fixedly mounted in the fixed plate of first layer bottom plate (6) two sides, is also fixedly installed with below the rear end of the first layer bottom plate (6)
Lifting motor (22) is threadedly coupled charger (23) on the swingle of the lifting motor (22).
2. clean robot between a kind of Intelligent sanitary according to claim 1, it is characterised in that: the manipulator motion mould
Block (1) is constituted especially by five steering engines, is attached between the steering engine by steering engine connector, wherein first steering engine is
Vertical direction is placed, and second to the 5th steering engine is that horizontal direction use is extended.
3. clean robot between a kind of Intelligent sanitary according to claim 1, it is characterised in that: the micro treatment module
(8) equipped with two kinds of processors of STM32 and Cortex-A53, STM32 the and Cortex-A53 microprocessor is electrically connected master
Crawler motion module (9) and up/down steps crawler motion module (10), the Cortex-A53 microprocessor signals input connection
Laser radar (5) and signal output connection STM32 micro process, the input of described and Cortex-A53 microprocessor signals connects real
When monitoring camera (7), micro treatment module (8) signal input connection OpenMV visual identity camera (4).
4. clean robot between a kind of Intelligent sanitary according to claim 1, it is characterised in that: the main caterpillar drive mould
Every crawler belt of block (9) and up/down steps crawler motion module (10) includes driving wheel and is controlled and adjusted by PWM,
The track surface of the main crawler motion module (9) and up/down steps crawler motion module (10) is respectively provided with by anti-skid chequer, described
The driving motor of main crawler motion module (9) and up/down steps crawler motion module (10) is the motor of 24V.
5. clean robot between a kind of Intelligent sanitary according to claim 1, it is characterised in that: the power supply and electricity are examined
Surveying module (3) includes 6S, rechargeable battery, DC-DC power module, AC-DC module, the charge switch power supply adaptor, electricity of 22.2V
Source switch, the power supply and electric power detection module (3) are additionally provided with buzzer.
6. clean robot between a kind of Intelligent sanitary according to claim 1, it is characterised in that: the liquid storage box
(21) it is made of two independent water tanks and corresponding suction pump, the left side water tank is cleaning solution storage box, and right side is cleaning
Water storage box, the suction pump are connect by conduit with manipulator motion module (1).
7. clean robot and its application method between a kind of Intelligent sanitary, which is characterized in that specifically includes the following steps:
S1: the laser radar (5) is scanned ambient enviroment, identifies to barrier, and processing information is transferred to
The processing of Cortex-A53 processor；
S2: the data that the Cortex-A53 processor exports laser radar (5) are handled, and are divided ambient enviroment
Analysis, and treated information is transferred to STM32 micro process and is analyzed；
S3: the microprocessor (7) will be sent to OpenMV vision by the information after the completion of processing by way of instruction and be known
Other camera (4), the OpenMV visual identity camera (4) carry out precise acquisition and knowledge to ambient enviroment image according to instruction
Not and transfer data to microprocessor (7)；
S4: the microprocessor (7) is handled entire information and is calculated optimal path and then controls main caterpillar drive mould
The job site that block (9) and up/down steps crawler motion module (10) traveling extremely need；
S5: after clean robot reaches corresponding job site, microprocessor (7) controls manipulator motion module (1) and carries out
Corresponding cleaning；
S6: when the power supply and electric power detection module (3) detect not enough power supply, buzzer is sounded an alarm, when power supply with
Electric power detection module detects the whole process of robot repetition S1-S4 when electricity is close to zero, then completes to itself
Charging.
8. clean robot and its application method between a kind of Intelligent sanitary according to claim 1 or claim 7, it is characterised in that:
After entire robot needs the step of charging and completing S1-S4, the micro treatment module (8) controls main crawler motion module
(9) robot drive is sailed to socket position with up/down steps crawler motion module (10), the lifting motor (22) is by charger
(23) it adjusts to the position with socket flush, then micro treatment module (8) control robot continues traveling and by charger
(23) it is inserted into inside socket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910166589.5A CN109691935A (en) | 2019-03-06 | 2019-03-06 | Clean robot and its application method between a kind of Intelligent sanitary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910166589.5A CN109691935A (en) | 2019-03-06 | 2019-03-06 | Clean robot and its application method between a kind of Intelligent sanitary |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109691935A true CN109691935A (en) | 2019-04-30 |
Family
ID=66235066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910166589.5A Pending CN109691935A (en) | 2019-03-06 | 2019-03-06 | Clean robot and its application method between a kind of Intelligent sanitary |
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| CN111632983A (en) * | 2020-06-08 | 2020-09-08 | 赵腾 | Medical cleaning arm and analysis and test equipment |
| CN113281771A (en) * | 2021-03-31 | 2021-08-20 | 南京工程学院 | Double-radar fusion method and equipment applied to mobile robot |
| WO2021165389A1 (en) * | 2020-02-21 | 2021-08-26 | Siemens Aktiengesellschaft | Disinfection robot and disinfection robot control system |
| CN113440072A (en) * | 2021-08-31 | 2021-09-28 | 北京源来善尚科技有限公司 | Home service robot |
| CN113679303A (en) * | 2021-09-26 | 2021-11-23 | 复旦大学 | Spraying cleaning robot and control method thereof |
| CN113729560A (en) * | 2021-09-16 | 2021-12-03 | 上海景吾智能科技有限公司 | Hotel cleaning machines people |
| CN113729561A (en) * | 2021-09-26 | 2021-12-03 | 复旦大学 | Cleaning robot and control method thereof |
| CN113796787A (en) * | 2021-09-26 | 2021-12-17 | 复旦大学 | Wiping cleaning robot and control method thereof |
| CN113892848A (en) * | 2021-10-08 | 2022-01-07 | 上海景吾智能科技有限公司 | Overturning following track planning method, device and system for overturning object |
| CN113908318A (en) * | 2021-11-17 | 2022-01-11 | 珠海一微半导体股份有限公司 | Toilet disinfection robot, disinfection system and disinfection method |
| CN113975438A (en) * | 2021-11-17 | 2022-01-28 | 珠海一微半导体股份有限公司 | Toilet disinfection device and disinfection method |
| CN114129084A (en) * | 2021-12-02 | 2022-03-04 | 上海景吾智能科技有限公司 | Working system and cooperative working method of double-mechanical-arm mobile robot for cleaning toilet |
| WO2023075687A3 (en) * | 2021-10-29 | 2023-07-13 | National University Of Singapore | Robot alignment and manipulation |
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| WO2023075687A3 (en) * | 2021-10-29 | 2023-07-13 | National University Of Singapore | Robot alignment and manipulation |
| CN113908318A (en) * | 2021-11-17 | 2022-01-11 | 珠海一微半导体股份有限公司 | Toilet disinfection robot, disinfection system and disinfection method |
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