CN109965779B - Cleaning device and cleaning system - Google Patents

Cleaning device and cleaning system Download PDF

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Publication number
CN109965779B
CN109965779B CN201711455428.5A CN201711455428A CN109965779B CN 109965779 B CN109965779 B CN 109965779B CN 201711455428 A CN201711455428 A CN 201711455428A CN 109965779 B CN109965779 B CN 109965779B
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CN
China
Prior art keywords
replacing
control unit
unit
fixing part
accommodating area
Prior art date
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Application number
CN201711455428.5A
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Chinese (zh)
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CN109965779A (en
Inventor
邹风山
陈廷辉
徐建东
王冬雷
刘利军
梁亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
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Priority to CN201711455428.5A priority Critical patent/CN109965779B/en
Publication of CN109965779A publication Critical patent/CN109965779A/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a cleaning device and a cleaning system. The body is provided with a first accommodating area capable of accommodating the first replacing part and a second accommodating area capable of accommodating the second replacing part; the grabbing part comprises a rotating part and a fixing part, and the rotating part is connected with the fixing part. The control unit can control the power unit to drive the rotating part to rotate according to the image information, so that the fixing part is locked or separated with the first replacing part, or the fixing part is locked or separated with the second replacing part, and therefore the replacing part of the operation can be replaced quickly. The method is equivalent to a mode of manually replacing the operation mechanism, has the advantages of simple operation, high efficiency, convenience, wide application scene and the like, reduces the manual operation steps in the field cleaning process, and improves the user experience.

Description

Cleaning device and cleaning system
Technical Field
The invention relates to the field of robot automation application, in particular to a cleaning device and a cleaning system.
Background
With the development of science and technology and the progress of society, the life of people becomes more and more convenient. In the cleaning field, the sweeping robot is widely applied, but the existing sweeping robot is often single in function and only can clean the ground or the tabletop of a place, and cleaning parts (such as cloth, a vacuum cleaner and the like) in the sweeping robot need to be replaced in time artificially due to different requirements on cleaning degree indexes, so that the steps are complicated, and poor sensory experience is brought to a user.
Disclosure of Invention
Therefore, a cleaning device and a cleaning system are needed to be provided to solve the problems of single function, inconvenience in operation, poor user experience and the like of the existing sweeping robot.
In order to achieve the above object, the inventors provide a cleaning device including a traveling unit, a body, a power unit, a control unit, a camera unit, a replacement portion, and a grasping portion; the body is arranged above the walking unit, the power unit is respectively connected with the walking unit and the grabbing part, and the control unit is respectively connected with the camera unit and the power unit; the replacing part comprises a first replacing part and a second replacing part, and a first accommodating area capable of accommodating the first replacing part and a second accommodating area capable of accommodating the second replacing part are arranged on the body; the grabbing part comprises a rotating part and a fixing part, and the rotating part is connected with the fixing part;
the camera shooting unit is used for capturing image information, the control unit is used for generating a corresponding control signal according to the image information and sending the control signal to the power unit, and the power unit is controlled to drive the rotating part to rotate, so that the fixing part moves to the position above the first accommodating area or the second accommodating area; the power unit is also used for driving the fixing part to reciprocate up and down so as to lock or separate the fixing part and the first replacing part or lock or separate the fixing part and the second replacing part.
Further, the first replacing portion is a cleaning portion, one end of the cleaning portion is provided with a flexible fabric, and the other end of the cleaning portion is movably connected with the fixing portion.
Further, the device comprises a vacuum pump which is connected with the control unit; the second replacing part is a dust collecting part, one end of the dust collecting part is provided with an adsorption port, and the other end of the dust collecting part is movably connected with the fixing part; the adsorption port is connected with a vacuum pump; the control unit is used for controlling the vacuum pump to be started when the dust collection part and the fixing part are locked.
Further, the device comprises a third replacing part which is a clamping part; the body is provided with a third accommodating area capable of accommodating the clamping part; one end of the clamping part is provided with a clamp, and the other end of the clamping part is movably connected with the fixing part; the body is provided with a recovery box body, and the control unit is also used for driving the rotating part to rotate by controlling the power unit so as to enable the fixing part to move above the third accommodating area, and controlling the rotating part to rotate above the recovery box body when the fixing part and the clamping part are locked.
Furthermore, a first limiting part is arranged in the first accommodating area and used for limiting a first replacement part placed in the first accommodating area; the control unit is used for separating the first replacing part from the first containing area by controlling the movement of the limiting part after the first replacing part is locked with the fixing part.
Furthermore, a second limiting part is arranged in the second accommodating area and used for limiting a second replacement part placed in the second accommodating area; the control unit is used for controlling the limiting part to move after the second replacing part is locked with the fixing part, so that the second replacing part is separated from the second containing area.
Further, the body is also provided with a three-dimensional laser sensor, and the three-dimensional laser sensor is connected with the control unit.
Further, the body is further provided with a sonar sensor and a two-dimensional laser sensor, and the sonar sensor and the two-dimensional laser sensor are respectively connected with the control unit.
Further, the quantity of sonar sensor is two, includes first sonar sensor and second sonar sensor, first sonar sensor and second sonar sensor set up respectively in the relative both sides of body.
The inventor also provides a cleaning system, which comprises a terminal and a cleaning device, wherein the cleaning device is the cleaning device, the terminal is connected with the control unit of the cleaning device, and the terminal is used for sending a control command to the control unit.
The invention provides a cleaning device and a cleaning system. The body is provided with a first accommodating area capable of accommodating the first replacing part and a second accommodating area capable of accommodating the second replacing part; the grabbing part comprises a rotating part and a fixing part, and the rotating part is connected with the fixing part. The control unit can control the power unit to drive the rotating part to rotate according to the image information, so that the fixing part is locked or separated with the first replacing part, or the fixing part is locked or separated with the second replacing part, and therefore the operating mechanism can be replaced quickly. Compared with a mode of manually replacing the operation mechanism, the method has the advantages of simplicity in operation, high efficiency, convenience, wide application scene and the like, reduces manual operation steps in the field cleaning process, and improves user experience.
Drawings
FIG. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a cleaning system according to another embodiment of the present invention;
reference numerals:
1. a recovery box body;
2. a power unit;
3. a three-dimensional laser sensor;
4. an image pickup unit;
5. a rotating part;
6. a fixed part;
7. a third replacement section;
8. a first replacement part;
9. a second replacement part;
10. a two-dimensional laser sensor;
11. a first sonar sensor;
12. a second sonar sensor;
13. a traveling unit;
101. a control unit;
102. and (4) a terminal.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Fig. 1 is a schematic view of a cleaning device according to an embodiment of the present invention. The device comprises a walking unit 13, a body, a power unit 2, a control unit, a camera unit 4, a replacing part and a grabbing part; the body is arranged above the walking unit 13, the power unit 2 is respectively connected with the walking unit 13 and the grabbing part, and the control unit is respectively connected with the camera unit 4 and the power unit 2; the replacing part comprises a first replacing part 8 and a second replacing part 9, and a first accommodating area capable of accommodating the first replacing part 8 and a second accommodating area capable of accommodating the second replacing part 9 are arranged on the body; the grabbing part comprises a rotating part 5 and a fixing part 6, and the rotating part 5 is connected with the fixing part 6.
In this embodiment, the traveling unit includes 4 traveling wheels, and the body is provided on the traveling wheels to move by rolling of the traveling wheels. Of course, in other embodiments, the number of the road wheels can be adjusted according to actual needs, for example, the number can be 2 or 3. The power unit is used for providing power. In the present embodiment, the power unit is a motor and a driving mechanism thereof, for example, when the traveling unit includes 4 traveling wheels, the number of the motors is two, each motor is used for driving two traveling wheels, and the steering of the traveling unit is performed in a double-wheel differential manner.
The control unit is an electronic component with a control signal sending function and a data processing function, and can be a CPU, an MCU, a PLC controller and the like. The camera unit 4 is used to capture image information. In this embodiment, the camera unit is an intelligent camera, and the intelligent camera can identify the dust position on the ground or on the desktop, can also identify the position of the trash can, and transmits the identified picture information to the control unit for subsequent processing. The intelligent camera can acquire and judge the image information by detecting the comprehensive characteristics of color contrast, reflection brightness, robustness and the like.
The control unit is used for generating a corresponding control signal according to the image information and sending the control signal to the power unit, and driving the rotating part to rotate by controlling the power unit so that the fixing part moves to the upper part of the first accommodating area or the second accommodating area; the power unit is also used for driving the fixing part to reciprocate up and down so as to lock or separate the fixing part and the first replacing part or lock or separate the fixing part and the second replacing part.
In this embodiment, the fixing portion is provided with an external thread, and the first replacement portion and the second replacement portion are respectively provided with an internal thread adapted to the external thread. When the fixing part moves downwards to be in contact with the first replacing part under the driving action of the power unit, the power unit can receive the signal sent by the control unit again at the moment, and the fixing part is driven to rotate along the axis direction, so that the external thread on the fixing part is locked with the internal thread on the first replacing part.
In other embodiments, the fixing portion is further provided with a first engaging member, the first replacing portion and the second replacing portion are respectively provided with a second engaging member, and the first engaging member and the second engaging member are engaged with each other. When the fixing portion moves downward to contact with the first replacing portion under the driving action of the power unit, the first engaging member on the fixing portion is engaged with the second engaging member of the first replacing portion, so that the fixing portion is locked with the first replacing portion. The second replacing part is matched with the fixing part in a similar way to the first replacing part, and the details are not repeated here. The control unit sends different control signals to the power unit according to the image information, so that the operating mechanism can be replaced quickly. Compared with a mode of manually replacing the operating mechanism (comprising the first replacing part and the second replacing part), the method has the advantages of simplicity in operation, high efficiency, convenience, wide application scene and the like.
In some embodiments, the first replacing portion is a cleaning portion, one end of the cleaning portion is provided with a flexible fabric, and the other end of the cleaning portion is movably connected with the fixing portion. After the cleaning part and the fixing part are locked, the control unit can drive the fixing part to reciprocate on the surface of an area to be wiped (such as a table top or a ground area) through the power unit, so that the cleaning part can reciprocate aligned with a water accumulation position to achieve the purpose of cleaning. The area to be wiped can be determined according to the image information collected by the camera unit, and preferably, when the image information collected by the camera unit includes more accumulated water (exceeding the range of the preset area), the area where the image is collected by the camera unit is determined to be the area to be wiped.
In certain embodiments, the apparatus comprises a vacuum pump connected to a control unit; the second replacing part is a dust collecting part, one end of the dust collecting part is provided with an adsorption port, and the other end of the dust collecting part is movably connected with the fixing part; the adsorption port is connected with a vacuum pump; the control unit is used for controlling the vacuum pump to be started when the dust collection part and the fixing part are locked. After the dust collection part and the fixing part are locked, the control unit starts the vacuum pump and drives the fixing part to reciprocate on the surface of the area to be subjected to dust removal through the power unit, so that the dust collection part reciprocates to the accumulated water position to achieve the purpose of dust removal. The area to be dedusted can be determined according to the image information acquired by the camera unit, and preferably, when the image information acquired by the camera unit includes more dust (the image area ratio exceeds the preset ratio), the area acquired by the camera unit is determined as the area to be dedusted. The identification of the dust can be judged according to the corresponding parameters such as color contrast, reflection brightness and the like.
In certain embodiments, the device comprises a third exchanging part 7, the third exchanging part 7 being a clamping part; the body is provided with a third accommodating area capable of accommodating the clamping part; one end of the clamping part is provided with a clamp, and the other end of the clamping part is movably connected with the fixing part; the body is provided with a recovery box body 1, and the control unit is also used for driving the rotating part to rotate by controlling the power unit so as to enable the fixing part to move above the third accommodating area, and controlling the rotating part to rotate above the recovery box body 1 when the fixing part and the clamping part are locked. Preferably, the clamping portion can be used for clamping a trash can. When the image information is shot by the camera shooting unit, a garbage can exists (the judgment basis can be comprehensively determined according to the shape, the length, the width and the like of the garbage can), the control unit controls the fixing part and the clamping part to be locked through the power unit, the garbage can is clamped through the clamping part, then the clamped garbage can is moved to the upper part of the recovery box body through the rotation of the rotating part, and then the clamping part is driven by the power unit to incline by a corresponding angle, so that the garbage in the garbage can clamped by the clamping part is poured into the recovery box body.
The cleaning device provided by the invention has the function of a cleaning robot, and can replace cleaning personnel to clean the ground, the table top and other positions of an area to be cleaned and clean indoor garbage. The cleaning robot can quickly replace the replacement part (namely, the operation mechanism) matched with the fixed part through the driving action of the power device and the rotation of the rotating part. When the image information acquired by the camera shooting unit contains more dust, the cleaning robot can automatically replace the operation mechanism with a dust collection part, so that the dust on the ground can be adsorbed; when the camera unit collects the image information and contains the garbage can, the cleaning robot can automatically replace the operation mechanism with the clamping part, the garbage can is grabbed and moved to the upper part of the recovery box body, and the garbage in the garbage can is poured into the recovery box body, so that the garbage can is recovered uniformly.
In other embodiments, the selection of the first replacing portion, the second replacing portion, and the third replacing portion may be adjusted according to actual needs, for example, the third replacing portion may be a dust collecting portion, the first replacing portion may be a clamping portion, and the second replacing portion may be a cleaning portion, and the working principle is as described above, and will not be described herein again.
In some embodiments, a first limiting portion is further disposed in the first accommodating area, and the first limiting portion is used for limiting a first replacement portion placed in the first accommodating area; the control unit is used for separating the first replacing part from the first containing area by controlling the movement of the limiting part after the first replacing part is locked with the fixing part. Use the fixed part and change between the portion for the screw thread cooperation as the example with first, when the external screw thread of fixed part and the internal thread of first change portion contacted each other, need carry on spacingly to first change portion this moment, prevent that it from taking place to remove to the fixed part is through self rotation, makes external screw thread and internal thread mutually support. After the fixing portion and the first replacing portion are locked (namely, after the internal thread and the external thread are locked), the first replacing portion does not need to be limited at this time, so that the first replacing portion can move along with the movement of the fixing portion, and therefore the control unit enables the first replacing portion to be separated from the first accommodating area by controlling the movement of the limiting portion (namely, the first replacing portion is not limited any more). Similarly, a second limiting part is arranged in the second accommodating area and used for limiting a second replacement part placed in the second accommodating area; the control unit is used for controlling the limiting part to move after the second replacing part is locked with the fixing part, so that the second replacing part is separated from the second containing area.
Further, when the cleaning device comprises a third replacement part, a third limiting part is further arranged in the third accommodating area, the function of the third limiting part is similar to that of the first limiting part and the second limiting part, and the description is omitted here.
In some embodiments, a three-dimensional laser sensor 3 is further disposed on the body, and the three-dimensional laser sensor 3 is connected with the control unit. The three-dimensional laser sensor 3 is used for three-dimensionally scanning a working environment map of the cleaning robot, and the control unit is used for reconstructing the scanned map, so that the real working environment of the cleaning robot is simulated.
In some embodiments, a sonar sensor and a two-dimensional laser sensor 10 are further disposed on the body, and the sonar sensor and the two-dimensional laser sensor 10 are respectively connected with the control unit. Preferably, the number of sonar sensors is two, and the sonar sensors include a first sonar sensor 11 and a second sonar sensor 12, and the first sonar sensor 11 and the second sonar sensor 12 are provided on opposite sides of the body. The cleaning robot senses the surrounding environment through the two-dimensional laser and sonar sensors, and the function of avoiding obstacles in the walking process is achieved.
As shown in fig. 2, the present invention further provides a cleaning system, where the cleaning system includes a terminal 102 and a cleaning device, the cleaning device is the cleaning device described above, the terminal is connected to a control unit 101 of the cleaning device, the terminal 102 is configured to send a control instruction to the control unit 101, and the control unit 101 can start to work in a designated area according to an operation instruction sent by the terminal, so that the operation is simple and convenient, user operation steps are simplified, and user experience is improved.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.

Claims (8)

1. A cleaning device is characterized by comprising a walking unit, a body, a power unit, a control unit, a camera unit, a replacing part and a grabbing part; the body is arranged above the walking unit, the power unit is respectively connected with the walking unit and the grabbing part, and the control unit is respectively connected with the camera unit and the power unit; the replacing part comprises a first replacing part and a second replacing part, and a first accommodating area capable of accommodating the first replacing part and a second accommodating area capable of accommodating the second replacing part are arranged on the body; the grabbing part comprises a rotating part and a fixing part, and the rotating part is connected with the fixing part;
the camera shooting unit is used for capturing image information, the control unit is used for generating a corresponding control signal according to the image information and sending the control signal to the power unit, and the power unit is controlled to drive the rotating part to rotate, so that the fixing part moves to the position above the first accommodating area or the second accommodating area; the power unit is also used for driving the fixing part to reciprocate up and down so as to lock or separate the fixing part and the first replacing part or lock or separate the fixing part and the second replacing part;
the first accommodating area is also internally provided with a first limiting part which is used for limiting a first replacement part placed in the first accommodating area; the control unit is used for separating the first replacing part from the first accommodating area by controlling the movement of the limiting part after the first replacing part is locked with the fixing part;
the second accommodating area is also internally provided with a second limiting part which is used for limiting a second replacement part placed in the second accommodating area; the control unit is used for controlling the limiting part to move after the second replacing part is locked with the fixing part, so that the second replacing part is separated from the second containing area.
2. The cleaning device as claimed in claim 1, wherein the first replacement part is a cleaning part, one end of the cleaning part is provided with a flexible fabric, and the other end is movably connected with the fixing part.
3. The cleaning apparatus as claimed in claim 1, wherein the apparatus comprises a vacuum pump connected to a control unit; the second replacing part is a dust collecting part, one end of the dust collecting part is provided with an adsorption port, and the other end of the dust collecting part is movably connected with the fixing part; the adsorption port is connected with a vacuum pump; the control unit is used for controlling the vacuum pump to be started when the dust collection part and the fixing part are locked.
4. A cleaning device as claimed in any one of claims 1 to 3, wherein the device comprises a third replacement part, the third replacement part being a grip part; the body is provided with a third accommodating area capable of accommodating the clamping part; one end of the clamping part is provided with a clamp, and the other end of the clamping part is movably connected with the fixing part; the body is provided with a recovery box body, and the control unit is also used for driving the rotating part to rotate by controlling the power unit so as to enable the fixing part to move above the third accommodating area, and controlling the rotating part to rotate above the recovery box body when the fixing part and the clamping part are locked.
5. The cleaning apparatus as claimed in claim 1, wherein a three-dimensional laser sensor is further provided on the body, and the three-dimensional laser sensor is connected with the control unit.
6. The cleaning device according to claim 1, wherein the body is further provided with a sonar sensor and a two-dimensional laser sensor, and the sonar sensor and the two-dimensional laser sensor are respectively connected with the control unit.
7. The cleaning device according to claim 6, wherein the number of the sonar sensors is two, and the sonar sensors include a first sonar sensor and a second sonar sensor, and the first sonar sensor and the second sonar sensor are respectively provided on opposite sides of the body.
8. A cleaning system, characterized in that the system comprises a terminal and a cleaning device, the cleaning device is the cleaning device according to any one of claims 1 to 7, the terminal is connected with a control unit of the cleaning device, and the terminal is used for sending control instructions to the control unit.
CN201711455428.5A 2017-12-28 2017-12-28 Cleaning device and cleaning system Active CN109965779B (en)

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