CN110141161A - It is a kind of to wash floor cleaning machine device people automatically - Google Patents

It is a kind of to wash floor cleaning machine device people automatically Download PDF

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Publication number
CN110141161A
CN110141161A CN201910507824.0A CN201910507824A CN110141161A CN 110141161 A CN110141161 A CN 110141161A CN 201910507824 A CN201910507824 A CN 201910507824A CN 110141161 A CN110141161 A CN 110141161A
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CN
China
Prior art keywords
device people
machine device
avoidance
floor cleaning
cleaning machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910507824.0A
Other languages
Chinese (zh)
Inventor
杨建峰
王灿运
刘学柱
刘珍娜
尹家骏
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.)
Shandong Laber Vocational And Technical College (shandong Labour Technician College)
Shandong Labor Vocational and Technical College
Original Assignee
Shandong Laber Vocational And Technical College (shandong Labour Technician College)
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Filing date
Publication date
Application filed by Shandong Laber Vocational And Technical College (shandong Labour Technician College) filed Critical Shandong Laber Vocational And Technical College (shandong Labour Technician College)
Priority to CN201910507824.0A priority Critical patent/CN110141161A/en
Publication of CN110141161A publication Critical patent/CN110141161A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A47L11/305Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4002Installations of electric equipment
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

Present disclose provides one kind to wash floor cleaning machine device people automatically, and using modular design method, entire robot includes multiple systems, and each system constitutes independent module, not only independently of entirety, but also is integrally included.Between each section, part with by corresponding interface, carried out between entirety substance, energy, information transmitting with uniformly.Each module, each system coordination is consistent, to keep the production of product and damage replacement highly efficient;It is provided with water and takes off dirt collection system, sewage etc. can be collected, ensure that the diversification of cleaning object, improve cleaning effect.

Description

It is a kind of to wash floor cleaning machine device people automatically
Technical field
The disclosure belongs to smart machine field, and in particular to a kind of to wash floor cleaning machine device people automatically.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill Art.
It improving with the continuous development of society, the sanitation and hygiene problem of related public place gradually obtains the attention of people, Machine replaces manually, and makes great efforts that machine is made to become more intelligent.It is widely answered to wash floor cleaning machine device people automatically and will have With prospect, it will gradually be applied to the waiting hall on large-scale station, airport, the room corridor of school, hospital, Workshop etc. These need large area clean environment region.
Understood according to inventor, it is current wash automatically floor cleaning machine device people be mostly be manually operated wash ground cleaning equipment, nothing Method realization integrates the functions such as movement, cleaning, recycling, avoidance, path planning, during avoidance be only to barrier into The simple evacuation of row, meanwhile, solid refuse can only be collected, cleaning cannot achieve for wet refuse or sewage etc., and do not meet vehicle It stands, the cleaning of the waiting hall on airport requirement.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes one kind and washes floor cleaning machine device people automatically, the disclosure uses modularization Design, can reduce production, replacement cost, is also able to carry out effective control, while taking off dirt collection module to sewage etc. using water It is collected, ensure that cleaning effect.
According to some embodiments, the disclosure is adopted the following technical scheme that
One kind washing floor cleaning machine device people, including clean robot ontology automatically, scrubs on ontology at least provided with ground and is System and water take off dirt collection system, and the ground purge system is disc brush formula cleaning structure, described for carrying out cleaning work to ground Water takes off dirt collection system and is set to rear body lower end, including foul water tank, blower, closed conduit, water take off and push rod, and the push rod is Scalable push rod, the water are taken off the front end for being set to push rod, are connect with pipeline, and the other end of the pipeline is connected to foul water tank, The blower is set to foul water tank lower end, negative by being formed between the operating sewage discharge tube that water can be made to take off and the foul water tank of blower Pressure;
Clean robot ontology front end has been provided at circumferentially spaced multiple ultrasonic sensors, the ultrasonic sensor Detection zone can cover all direction of travel of the ontology, clean robot ontology front end is provided with infrared sensing Device, the comprehensive monitoring information according to ultrasonic sensor and infrared sensor execute avoidance according to distance and azimuth information.
As possible embodiment, the clean robot ontology is cleaning vehicle, is additionally provided in the cleaning vehicle solely Vertical ground purge system, water circulation system and water takes off dirt collection system, is provided in the cleaning vehicle for driving cleaning vehicle to transport The power-driven system of dynamic and each system acting is provided with the control system for controlling each system acting in cleaning vehicle.
As possible embodiment, the water circulation system includes filtered water tank for carrying clear water and for carrying Recycle the foul water tank of sewage.
As possible embodiment, the ground purge system includes at least two parallel arrangement of disc brushes, the disk Brush is set on telescoping shoring column, and when the telescoping shoring column is in first position, any position of disc brush is not in contact with the ground, When the telescoping shoring column is in the second position, at least bottom can contact ground, and each disc brush has independent motor driven.
As possible embodiment, the ultrasonic sensor is arranged at the front end of the clean robot ontology And two side positions of the clean robot ontology.
As possible embodiment, the infrared sensor be it is multiple, before being arranged at intervals at clean robot ontology End and rear end.
As possible embodiment, clean robot ontology front end is provided with several contact sensors, with detection Whether front there are step/stair.
As possible embodiment, the control system includes main control unit, environment sensing unit, Motor execution unit And man-machine interaction unit, wherein the main control unit and environment sensing unit, Motor execution unit and man-machine interaction unit connect It connects, the environment sensing unit includes environmental detection sensor in more, obtains the environmental information of working region, the Motor execution Unit is taken off dirt collection system with the walking mechanism of the clean robot ontology, ground purge system and water and is connect, the man-machine friendship Mutual unit is for receiving control instruction.
As possible embodiment, the environment sensing unit includes ultrasonic sensor, infrared sensor, contact biography Sensor, velocity sensor and electronic compass.
As possible embodiment, the avoidance mode includes:
Direct avoidance: it when determining in front of clean robot there are after barrier, according to orientation is cleaned, executes left-hand rotation, turn right Or retrograde manner carries out avoidance;
It waits avoidance: when determining in front of clean robot there are after barrier, and when the barrier is dynamic motion, being Dynamic barrier is allowing within safe range, then robot, which continues to move ahead, carries out cleaning;
Urgent avoidance: the avoidance in the way of emergency brake;
Dropproof avoidance: when infrared sensor, contact sensor detect the distance between clean robot bottom surface and ground When being greater than the set value, control clean robot, which is fallen back, carries out avoidance.
Compared with prior art, the disclosure has the beneficial effect that
The disclosure uses modular design method, and entire robot includes multiple systems, and each system constitutes independent mould Block not only independently of entirety, but also integrally included.Between each section, part with by corresponding interface, carry out object between entirety Matter, energy, information transmitting with uniformly.Each module, each system coordination is consistent, so that the production and damage replacement that make product are more Efficiently.
The disclosure is provided with water and takes off dirt collection system, can be collected to sewage etc., ensure that the diversification of cleaning object, Improve cleaning effect.
The disclosure acquires information with it using a variety of avoidance modes and matches, ensure that cleaning by setting sensor group The safety of robot itself in the process.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is the cleaning flow chart of the disclosure;
Fig. 2 is the clean robot structure chart of the disclosure;
Fig. 3 is the threedimensional model schematic diagram of the disclosure;
Fig. 4 is the multisensor distribution schematic diagram of the disclosure;
Fig. 5 is the control system architecture figure of the disclosure;
Fig. 6 is the control system hardware schematic of the disclosure.
Wherein: 1- headstock;2- sensor-based system;3- purge system;4- filtered water tank;5- kinematic system;6- blower;7- sewage Case;8- control system;9- power-supply system;10- dirt collection system.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another It indicates, all technical and scientific terms that the present embodiment uses have and disclosure person of an ordinary skill in the technical field Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ", The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand For the limitation to the disclosure.
In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection, It is also possible to be integrally connected or is detachably connected;It can be directly connected, it can also be indirectly connected through an intermediary.For The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be, It should not be understood as the limitation to the disclosure.
As described in the background art, being constantly progressive and develop, the continuous promotion of technical level along with science and technology produces Continuous modernization, the modular design method of engineering goods is also gradually mature, and modular product design is to engineering goods Development has become a kind of trend.The modularized design of engineering goods not only substantially reduces the period of Design and machining of products, But also it effectively can control and reduce production cost.
In consideration of it, carrying out relevant design using modular design method.Between each section, lead between part and entirety Cross corresponding interface, carry out substance, energy, information transmitting with uniformly.Each module, each system coordination is consistent, to make product Design specification more it is efficient.Each functional block diagram of complete machine is as shown in Figure 2.The cleaning process of work is as shown in Figure 1.
Specifically, introducing ground purge system first.Clean robot needs to carry out cleaning work to ground, and it is suitable to choose Cleaning agency be just particularly important, should have higher cleaning efficiency, structure is simple again, easy to control.Entire mould Block system is made of disc brush, driving motor, drive connection part, push-rod electric machine, connecting bracket (chassis), promotion bottom plate, selects disk Brush cleaning structure respectively drives two disc brushes by two direct current generators, is carried out between disc brush and motor by dish-type connecting component Connection.Motor is connect with dish-type component, and brush is connect with dish-type component, can more easily be replaced in this way to brush, behaviour Make simply, it is easy to maintain.
Since in cleaning work, brush will be put down and ground face contact;Brush will raise up when idle, With surface separation, this will select suitable hoisting mechanism to complete to act accordingly.It is mentioned for this purpose, brush is fixed to motor Bottom plate is risen, oscilaltion movement is completed in selection with push-rod electric machine, and push-rod electric machine is fixed to clean robot chassis front support face, Extension bar is connect with bottom plate is promoted, and the lifting of mechanism is scrubbed in the flexible realization by controlling push-rod electric machine.
Sewage after having scrubbed for ground will be collected, and water is designed behind clean robot car body and takes off dirt collection water system System carries out sewage collecting with vacuum pressure conveying principle.Specifically include water take off, blower, soil pick-up water pipe, push-rod electric machine, chassis main frame And connecting rod.Water is taken off, soil pick-up water pipe and blower form vacuum pressure conveying formula transportation system, and also known as air-flow conveys, and utilizes the energy of air-flow Amount, is a kind of concrete application of fluidization technology along airflow direction conveying granular material in closed conduit.
It is taken off by water and water is carried out to extort collection, the blower work below foul water tank, the blower to run at high speed makes Negative pressure is formed between sewage discharge tube and foul water tank, meets the condition of vacuum pressure conveying.According to the principle, it is plate-like that water takes off main body, can Sewage is gathered into sewage discharge tube, subsequently enters soil pick-up pipeline, final band enters from the ground in foul water tank above, to reach suction The purpose of dry ground sewage.
Wash that ground structure is the same, and water, which takes off sewage collection system, will also up and down motion movement with disc brush.When clean robot works, water Taking off will be contacted with ground, just can be carried out the collection of sewage;When clean robot does not work, water, which is taken off, will be lifted so that clear Clean robot can be moved quickly.Up and down motion movement is realized with push-rod electric machine.The push rod of push-rod electric machine is taken off with water to be connected, electricity Machine is connected with clean robot chassis main frame, and the flexible of push rod realizes that water took off lifts and put down movement.
For for large-scale place automatically wash floor cleaning machine device people, require its with flexible locomotivity, and from The dynamic locomotivity for washing floor cleaning machine device people is determined by its kinematic system.High performance kinematic system is to realize that robot is various The guarantee of compound movement, stability, the accuracy, rapidity, flexibility, operability of movement, will all directly affect cleaning The overall performance of robot.Therefore, it is necessary to reasonably select and design clean robot kinematic system.In general, kinetic system System includes mobile mechanism and drive system, they complete required various movements under total control system guidance.
Floor cleaning machine device people is washed for general relatively flat indoor and outdoor automatically and usually selects wheeled locomotion mechanism.In phase To on flat road surface, wheeled construction moves relatively reliable stabilization, and capacity usage ratio is high, and mechanism and control are all compared to simpler It is single.A wheel, two-wheeled, three-wheel, four-wheel Deng Duolun mechanism can be divided into according to how much wheeled locomotion mechanisms of wheel.One wheel and two turbines The main problem that structure faces at runtime is stability problem, therefore mostly uses the wheeled of three-wheel or four-wheel in practical application Mobile mechanism.Layout for three-wheel mobile mechanism is usually a universal wheel, two driving wheels, and four-wheel mobile mechanism is then only More universal wheels.Two-wheeled independently drives, and advance, the retrogressing, left-hand rotation, right-hand rotation of movement are realized by two wheel guide robot, and universal wheel rises It is acted on to Auxiliary support.It washes floor cleaning machine device person and selects the movement layout that two-wheeled independently drives, in this motion structure, two drivings Wheel is independently driven by independent driving motor, and universal wheel plays the role of Auxiliary support.The layout structure is simple, convenient for control, rotation Turn radius from zero can consecutive variations until infinitely great, rotation center is on the axis of two-wheeled.
To sum up, the complete machine mechanical structure for washing floor cleaning machine device people automatically is as shown in Figure 3.
Floor cleaning machine device proper manners machine is washed automatically for what is built, selects five ultrasonic sensors, there are three be located at vehicle Front front truck covers the front and left front and right front in face, other two is located at the left and right sides of car body.Due to certainly The dynamic traffic direction for washing floor cleaning machine device people is based on advancing, then two IR evading obstacle sensors is arranged in front of car body Preceding car bonnet is used for auxiliary ultrasonic avoidance at ground about 40cm.To avoid washing floor cleaning machine device people and wall automatically, hinder Hinder the objects such as object to collide, front truck base of two contact sensors (microswitch) in front of car body is installed for the sake of safety Portion, at ground about 10cm.Due to washing floor cleaning machine device man-hour automatically, step ladder etc. is had in working environment Overhanging portion, therefore fall to avoid washing the life of floor cleaning machine device human hair automatically, four, chassis of floor cleaning machine device people angle is being washed automatically Install four infrared sensors at side respectively prevents clean robot from falling and damaging for detecting step.Such as figure 4 are distributed design drawing to wash floor cleaning machine device people's sensor automatically.
It is as follows based on the sensor system Robot dodge strategy:
Barrier is divided into dynamic barrier and static-obstacle thing, washes floor cleaning machine device people automatically and is in complex environment, fortune Row environment is very unstable and can not predict the type of barrier.Select clean robot internal sensor encoder and electronics Compass washes the positioning and navigation of floor cleaning machine device people in the work environment to realize automatically.Hiding and survey for larger barrier Away from the stronger ultrasonic sensor of long range detectivity is selected, the distance for collecting clean robot peripheral obstacle is believed Breath, compares the orientation angle that the range information that sensor at different direction measures carrys out disturbance in judgement object[37].Select short distance avoidance With higher sensitivity infrared sensor auxiliary ultrasonic does corresponding avoidance work.Pass through ultrasonic sensor and infrared sensor Cooperation, is in real time monitored ambient enviroment, finds a certain range of obstacle of the direction of motion, the present embodiment selected distance range For (0,1m), appropriate Robot dodge strategy is selected according to distance and azimuth information and makes respective action.
In actual environment, due to barrier difference, then the movement of avoidance also can different from.According to Environment Obstacles object Classification, design wash the avoidance movement of floor cleaning machine device people, be now divided into four kinds of avoidance type of action: direct avoidance waits avoidance, is tight It brings to a halt avoidance, dropproof avoidance.
(1) direct avoidance
Automatic ground washing machine device people during the motion, when discovery front have barrier when, the state of disturbance in judgement object, if hair It is now static-obstacle thing, then robot changes the direction of motion according to set Robot dodge strategy, thus the generation avoided collision.
The present embodiment takes mode of the ultrasonic sensor in conjunction with infrared sensor, acquires front in motion process, a left side The obstacle distance information and azimuth information on right both sides.After sensor determines the distribution of barrier, it is dynamic to make corresponding avoidance Make.Assuming that there are barriers in front of robot, then robot is according to orientation is cleaned, selection is turned left or right-hand rotation movement;In machine When the front and right side of device people all have barrier, robot then turns left to avoid obstacle, finally returns former cleaning direction;Together When reason has barrier for front and left side, obstacle is avoided in robot right-hand rotation, finally returns former cleaning direction;If front And all there is barrier on left side and right side then robot enter U-shaped space, robot is fallen back at this time, and according to the propulsion side of cleaning To spinning movement is made, set cleaning direction is returned to.
(2) avoidance is waited
Waiting avoidance is for dynamic barrier in movement environment.Judgement for dynamic barrier selects secondary The method of detection.The barrier of discovery is detected twice during robot forward travel, finds barrier for the first time When recording distance information, hereafter robot continue move ahead then re-records secondary range information.To the range information of the two Relationship is compared to obtain the state of barrier.Assuming that the obstacle distance information measured for the first time is X1, hereafter machine The range ability of people is L, and the obstacle information then measured for the second time is X2.So
If X1-X2=L, then barrier is static state.
If X1-X2If < L or X1-X2> L, then barrier is dynamic.
For dynamic barrier, waiting Robot dodge strategy is taken.After being judged as dynamic barrier, robot is waited, with Detection is carried out to barrier at interval of two seconds afterwards and obtains range information, if distance is allowing within safe range, robot Continue to move ahead and carries out cleaning.
(3) emergency brake avoidance
For emergent dynamic barrier and fails the static-obstacle thing detected in time and robot and sent out with it When raw collision, robot takes emergency brake to act at this time, halts to avoid damaging.It disappears to dynamic barrier Afterwards, robot continues cleaning works.If what is be on the verge of is static-obstacle thing, then robot takes former road to fall back, then take again The corresponding strategy that turns to is with avoiding obstacles.It is in the environment in someone due to clean robot, personal safety just seems Particularly important, design emergency brake avoidance is also just necessary, so as to improve safety in utilization well.
(4) dropproof avoidance
The obstacles such as step cleaned in space are easy to be asked for this so that robot falls down from plane is cleaned Topic is equipped with infrared sensor in chassis of vehicle body four corners, for detecting the distance between ground, when the distance detected is big When setting value, robot controller makes command adapted thereto and robot is fallen back, so that robot be avoided to fall phenomenon Generation.
Core of the control system as complete machine, plays maincenter regulating and controlling effect.Automatically the control system of floor cleaning machine device people is washed Mainly including main control unit (MCU), context aware systems, Motor execution system, man-machine interactive system, as shown in Figure 5.Automatically it washes Floor cleaning machine device people is to realize autonomous and autonomous cleaning, it is necessary to first come to obtain area in real time by each environment monitoring sensor Domain environmental information, and the environmental information of perception is transmitted in main control unit MCU, MCU foundation respective algorithms are defeated to data processing Corresponding driving control signal out.Movement executing mechanism according to control signal make respective action, thus realize autonomous with Autonomous cleaning.
Control system hardware includes sensing (ultrasonic sensor, infrared sensor, contact sensor, Hall velocity pick-up Device, photoelectric encoder, electronic compass) it is system acquisition module, main controller module, motor drive module, wireless WiFi module, more Road relay module, movement execute (driving motor scrubs motor, promotes motor, water spray motor, blower) module, power module Deng.The overall circuit design block diagram of control system hardware is as shown in Figure 6.
Specific each section is in preceding sections by the agency of, and details are not described herein, the place not described in detail, such as clear water Case, water spraying structure, water circulation system etc. select existing structure can be realized, and also repeat no more herein.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.

Claims (10)

1. one kind washes floor cleaning machine device people automatically, it is characterized in that: including clean robot ontology, at least provided with ground on ontology Purge system and water take off dirt collection system, and the ground purge system is disc brush formula cleaning structure, for carrying out cleaning work to ground Industry, the water takes off dirt collection system and is set to rear body lower end, including foul water tank, blower, closed conduit, water take off and push rod, institute Stating push rod is scalable push rod, and the water is taken off the front end for being set to push rod, connect with pipeline, the other end and sewage of the pipeline Case connection, the blower is set to foul water tank lower end, by between the operating sewage discharge tube that water can be made to take off and the foul water tank of blower Form negative pressure;
Clean robot ontology front end has been provided at circumferentially spaced multiple ultrasonic sensors, the inspection of the ultrasonic sensor All direction of travel of the ontology can be covered by surveying region, and clean robot ontology front end is provided with infrared sensor, comprehensive The monitoring information according to ultrasonic sensor and infrared sensor is closed, executes avoidance according to distance and azimuth information.
2. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the clean robot ontology is clear Carwash is additionally provided with independent ground purge system, water circulation system and water in the cleaning vehicle and takes off dirt collection system, the cleaning It is provided with the power-driven system for driving cleaning vehicle movement and each system acting on vehicle, is provided in cleaning vehicle for controlling Make the control system of each system acting.
3. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the water circulation system includes being used for Carry the filtered water tank of clear water and the foul water tank for carrying recycling sewage.
4. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the ground purge system includes extremely Few two parallel arrangement of disc brushes, the disc brush is set on telescoping shoring column, when the telescoping shoring column is in first position When, any position of disc brush is not in contact with the ground, and when the telescoping shoring column is in the second position, at least bottom can be contiguously Face, each disc brush have independent motor driven.
5. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the ultrasonic sensor is at least set Set the front end in the clean robot ontology and two side positions of the clean robot ontology.
6. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the infrared sensor be it is multiple, It is arranged at intervals at the front-end and back-end of clean robot ontology.
7. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: clean robot ontology front end Several contact sensors are provided with, step/stair whether occur with detection front.
8. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the control system includes master control list Member, environment sensing unit, Motor execution unit and man-machine interaction unit, wherein the main control unit and environment sensing unit, fortune Dynamic execution unit is connected with man-machine interaction unit, and the environment sensing unit includes environmental detection sensor in more, obtains work The environmental information in region, the walking mechanism of the Motor execution unit and the clean robot ontology, ground purge system and Water takes off the connection of dirt collection system, and the man-machine interaction unit is for receiving control instruction.
9. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the environment sensing unit includes super Sonic sensor, infrared sensor, contact sensor, velocity sensor and electronic compass.
10. one kind as described in claim 1 washes floor cleaning machine device people automatically, it is characterized in that: the avoidance mode includes:
Direct avoidance: when determining in front of robot there are after barrier, according to orientation is cleaned, left-hand rotation, right-hand rotation or retroversion side are executed Formula carries out avoidance;
It waits avoidance: when determining in front of robot there are after barrier, and when the barrier is dynamic motion, being dynamic disorder Object is allowing within safe range, then robot, which continues to move ahead, carries out cleaning;
Urgent avoidance: the avoidance in the way of emergency brake;
Dropproof avoidance: when infrared sensor, contact sensor detection robot bottom surface with the distance between ground greater than setting When definite value, control robot, which is fallen back, carries out avoidance.
CN201910507824.0A 2019-06-12 2019-06-12 It is a kind of to wash floor cleaning machine device people automatically Pending CN110141161A (en)

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Application publication date: 20190820