CN110664324B

CN110664324B - Robot for cleaning toilet

Info

Publication number: CN110664324B
Application number: CN201810708992.1A
Authority: CN
Inventors: 凌昕
Original assignee: Individual
Current assignee: Shandong Taishan Antai Internet Of Things Technology Co ltd
Priority date: 2018-07-02
Filing date: 2018-07-02
Publication date: 2021-06-22
Anticipated expiration: 2038-07-02
Also published as: CN110664324A

Abstract

A toilet cleaning robot is mainly composed of a mechanical part and an electronic part, wherein the mechanical part is provided with a driving wheel, a universal wheel and an X-shaped heightening platform to enable two front feet of the robot to advance, retreat, turn and climb steps, the electronic part forms the vision and smell sense of the robot by means of a camera and an electronic nose, and a high-pressure water gun, a rotary mop and a water tank are cleaning tools of the robot. The toilet cleaning robot has simple structure and flexible use, and is suitable for cleaning various men and women toilets.

Description

Robot for cleaning toilet

Technical Field

The invention relates to a toilet cleaning robot, in particular to an electromechanical integrated robot with a camera, a sensor, a high-pressure water spray pipe, a rotary mop and other integrated parts.

Background

The toilet is one of the necessary living facilities for people, except the necessary facilities for families, schools, markets, hospitals, stations, parks, units and public places are built, because the cleaning work of the toilet is finished manually at present, the cleaning workers for cleaning the toilet are huge in quantity in China, the toilet is a place with a severe environment, odor and peculiar smell are heavy in the toilet, cleaning personnel with strong responsibility can clean the toilet a little, the toilet with incomplete management is exposed by excrement, sewage cross flow and stink rush to the sky, and the toilet with high toilet amount is difficult to clean as long as the cleaning personnel finish the toilet and enter the inside, and the sex difference is encountered. The toilet cleaning robot is not afraid of severe environment and sex difference, can save labor force, can effectively alleviate the existing difficulties, and provides a comfortable environment for people to go to the toilet.

Disclosure of Invention

The invention is composed of a mechanical part and an electronic part, wherein the mechanical part mainly takes a water tank as a main body, an X-shaped heightening step is arranged below the water tank, one end of a trapezoid square block of the heightening step is buckled and cushioned below a driving wheel at the lower half part of the front feet of the robot and a roller of a universal wheel shelf, and the upper half parts of the two front feet of the robot are sleeved with a cylindrical leg part with a spring; a high-pressure water gun, a rotary mop, a camera, an infrared probe and a probe roller are arranged below the head of the water tank, and a water pipe interface and a power line connector are arranged at the tail of the water tank; the electronic part is formed by connecting an infrared probe and a signal collector with a driving motor, connecting a Hall position sensor with a height-increasing step motor, connecting an electronic nose, a camera and a central processing unit with a high-pressure water gun and a water pump and a motor of a rotary mop, and supplying power energy to the whole robot through a bridge rectifier circuit.

The robot is provided with two front legs and two rear legs, the front legs and the rear legs are respectively provided with a driving wheel and a universal wheel which are symmetrically arranged, a stepping motor of a model 23KM-K714-P2 produced by MNEBER company is selected as a driving motor, and LMD18200 is selected as a driving chip.

Two front feet of the robot are 15 cm high, two rear feet of the robot are 43 cm high, the upper half parts of the front feet are sleeved on the legs of the robot, the legs are cylinders 35 cm high and 5 cm in diameter, springs are arranged in the cylinders, a triangular shelf is arranged on the lower half parts (about 5 cm parts) of the front feet, and a roller with the diameter of 1 cm is fixed below the triangular shelf.

The height-increasing step is X type, and step both sides prelude has fixed two trapezoidal squares, and it can stretch out and draw back to increase the step, increases a threaded arm of prelude intermediate junction of step, through the flexible length of control X type step of arm and the change of width to the moving direction and the distance of control two squares, the screw of thread engagement electric motor rotor, through motor positive and negative rotation regulation arm.

The heightening step motor is a 200-watt miniature brushless direct current motor, and the wiring of the motor is connected with a Hall position sensor. The Hall position sensor is arranged below the water tank.

The width of the head part of the water tank is 30 cm, the width of the tail part of the water tank is 60 cm, the length of the water tank is 90 cm, the height of the water tank is 25 cm, a water outlet hole is formed in the lower part of the water tank, and a water pipe connector and a power line connector are fixed at the tail part of the water tank.

The high-pressure water gun is arranged at the head end below the water tank, and the motor is an ASP small-flow miniature water pump.

The rotary mop is arranged beside a high-pressure water gun, and a motor of the mop adopts a ZYT direct-current permanent magnet motor, the power is 20W, the voltage is 12V, the rotating speed is 1500r/min, and the torque is 0.05N.

The high-pressure water gun and the rotary mop motor are connected with an electronic nose data processor, a camera and a central processing unit.

The electronic nose is a PEN3 sensor manufactured by AIRSENSE of Germany and is arranged beside the central processing unit.

The cross section of the head part of the water tank is provided with a roller and an infrared probe, the roller is in contact with the wall surface of the toilet, the distance between the infrared probe and the wall surface is 1 cm, the infrared probe is LTH550-01, and the size of the roller is not required.

The signal collector adopts an MCU. The CD4051 collects signals of the infrared probe, and the signals are enabled to generate a value between 0 and 255 to be returned to the MCU, so that an environment value can be generated conveniently, and the MCU is instructed to send a command for changing the direction.

The camera is installed beside the rotary mop, an analog camera is selected for the camera, and after analog video signals generated by the video acquisition equipment are converted into digital signals, the digital signals are compressed and transmitted to the central processing unit for processing.

The central processing unit selects an MC9S12DG128 singlechip and a peripheral circuit thereof, a storage system of the central processing unit stores data converted from the excrement image, and when the excrement is shot by the camera, the data is converted by the central processing unit and then an instruction is sent.

The rectifying circuit selects a bridge rectifier, and rectifies the voltage of 220V to supply electric energy to the whole robot.

The toilet using the cleaning robot for the toilet of the invention must be a squatting pot type single-step toilet, the excrement isolation door must be flat or pushed inwards, and white paint with the width of 0.3 meter is coated on the wall with the height of 1 meter of the toilet.

The toilet cleaning robot is respectively provided with one toilet for men and one toilet for women.

The toilet cleaning robot has the beneficial effects that: 1. labor force is saved, and a large amount of labor can be saved by applying the robot; 2. the robot is free of emotion and can continuously work in a severe environment; 3. due to no sex difference, the robot can not cause embarrassment to people in the toilet regardless of cleaning in the toilet for both men and women.

Drawings

Fig. 1 is a general assembly view of the lavatory cleansing robot.

Figure 2 is two front feet of the robot. Wherein: 1 driving wheel and universal wheel; 2. a roller; 3. a shelf; 4. a spring.

Fig. 3 shows two rear legs of the robot.

Fig. 4 is an X-shaped elevated step. Wherein: 5. a trapezoidal square block; an X-shaped telescopic arm; 7. a mechanical arm; 8. an electric motor.

FIG. 5 is a view of the tank and the location of the various components. Wherein: 9. an infrared probe; 10. a probe roller; 11. a high pressure water gun; 12 a camera; 13. rotating the mop; 14. an electronic nose; 15. a central processing unit; 16. a Hall position sensor; 17. a signal collector; 18. a rectifier; 19. a cable; 20. a water inlet pipe of the water tank.

Fig. 6 is an analog wiring diagram of the electronic part.

Detailed Description

The invention is elucidated below with reference to the accompanying drawings.

As shown in figure 1, the invention is composed of a mechanical part and an electronic part, wherein the mechanical part mainly takes a water tank as a main body, an X-shaped heightening step is arranged below the water tank, one end of a trapezoid block of the heightening step is buckled and padded under a driving wheel 2 at the lower half part of the front foot of the robot and a roller of a shelf of a universal wheel 2, and the upper half parts of the two front feet of the robot are sleeved with a cylinder leg part with a spring; a high-pressure water gun 11, a rotary mop 13, a camera 12, an infrared probe 9 and a probe roller 10 are arranged below the head part of the water tank, and a water pipe 20 interface and a cable 19 wire joint are arranged at the tail part of the water tank; the electronic part is formed by connecting an infrared probe 9 and a signal collector 17 with a driving motor, connecting a Hall position sensor 16 with a height-increasing step motor 8, connecting an electronic nose 14, a camera 12 and a central processing unit 15 with a high-pressure water gun 11 and a water pump and a motor of a rotary mop 13, and supplying power energy for the whole robot by a bridge rectifier 18.

The toilet cleaning robot of the invention adopts the general tracing method principle to realize the walking function, namely: the infrared probe 9 is spaced from the toilet wall by a small distance, infrared light is continuously emitted to the wall in the moving process, white stripes are sprayed on the toilet wall, different reflection properties of the infrared light on the surfaces of objects with different colors are generated, the infrared light is absorbed when encountering a dark color plate, the infrared light cannot be received by the signal collector 17 of the robot, if encountering the white stripes, the infrared light is subjected to diffuse reflection, the signal collector 17 of the robot receives the infrared light and generates signals, and the MCU determines the positions of the white stripes and the walking route of the robot according to the fact that whether the MCU receives the reflected infrared light.

Similarly, a Hall position sensor 16 is arranged below the water tank to assist the robot to climb steps. The sensor adopts a magnetic field mechanical brush and a dial plate and is used for measuring the angular position of a moving part, when the front foot of the robot touches a step, the sensor outputs a positive signal, after the signal is amplified, a miniature direct current motor 8 meshed with a heightening step telescopic mechanical arm 7 is started to rotate, then the heightening step telescopic arm 7 is driven by a thread to move inwards, the length and the width of an X-shaped heightening step are changed, two trapezoidal squares move inwards, a driving wheel at the lower half part of the front foot of the robot and a roller 2 of a universal wheel shelf are buckled and cushioned to roll to the high end of a half trapezoid, and two front feet of the robot are extruded into sleeves of the legs of the robot by pressure; on the contrary, when the front foot of the robot is suspended during moving, the Hall position sensor 16 captures the information, namely, outputs a reverse signal to promote the heightening step to move outwards and extend the front foot of the robot out of the sleeve.

The central processing unit 15 stores data converted from the feces image, the central processing unit 15 with the MC9S12DG128 model is mainly used for a vehicle intelligent control system, but a Flash ROM with 128KB, a RAM with 8KB and an EEPROM with 2KB are stored in the central processing unit, and the internal resources and the external interface resources can meet various data processing requirements after analog video signals generated by analog camera video acquisition equipment are converted into digital signals.

The invention also installs an electronic nose 14 beside the central processing unit 15, the electronic nose 14 is also called as an olfaction analyzer, a sensor array and a data processing analyzer are stored in the electronic nose, the sensor array generates signals when smelling peculiar smell and foul smell in the toilet and outputs the signals to a data processor chip in the central processing unit 15, and the data processor commands the high-pressure water gun 11 and the rotary mop 13 to work.

The electric power of the robot is supplied after 220V voltage reduction and rectification. The water pump of the high-pressure water gun 11, the voltage of the rotary mop 13 is 12V, the voltage of the driving motor and the heightening step motor are respectively 6V, and the voltage of the central processing unit 15, the Hall sensor 16, the electronic nose 14, the signal collector 17, the camera 12 and the infrared probe 9 is 3.3V.

The walking function of the toilet cleaning robot is realized as follows: white stripes are sprayed on the walls and doors of the urine part and the excrement part, the infrared tubes are 1 cm away from the walls, the robot is commanded to move forwards, backwards and turn along the walls along with the rollers, when steps appear, (the steps of a urinal and a lavatory pan are generally 1-3 levels), the Hall position sensor 16 outputs a forward signal, the X-shaped heightening step motor 8 rotates to enable the mechanical arms to rotate in the same direction, the X-shaped heightening steps are widened from long to wide, two trapezoidal squares 5 fixed below the heightening steps move inwards, the rollers 2 of two front feet of the robot are jacked upwards by the trapezoidal squares to compress the two front feet into the legs, and the purpose of climbing the steps is achieved; when the robot descends to a step, two front feet of the robot are suspended, a negative signal is fed back by a Hall position sensor 16 which is specially used for measuring the angular position of a moving part, the X-shaped heightening step moves outwards, and the height of the front feet of the robot is reduced; when the infrared probe 9 turns to the isolation door at the stool position along with the white stripes, the isolation door is pushed open at the front part of the water tank of the robot due to the guiding effect of the white stripes, and the isolation door is cleaned internally.

The toilet cleaning function of the robot realizes double insurance through color observation and smell. The excrement stain shot by the analog camera 12, cigarette butts and paper scraps are converted into data, the data are processed by the central processing unit 15, the processor sends instructions to the high-pressure water gun 11, a water pump and a rotary mop 13 motor, the water pump and the motor rotate immediately to start to spread and clean the excrement stain, after the cleaning is finished, a water outlet of the water tank is automatically opened, and the water in the water tank washes the cleaned stain; similarly, the electronic nose 14 of the robot can smell the odor and peculiar smell at the urine, the electronic nose 14 is also connected with a water pump of the high-pressure water gun 11 and a motor of the rotary mop 13, a data processor in the electronic nose 14 sends out the same instruction as the central processing unit 15, and the high-pressure water gun 11 and the rotary mop 13 repeat the same cleaning procedure; when the central processing unit 15 and the electronic nose 14 send out instructions at the same time, the robot executes double instructions, and the cleaning flow is unchanged, except that: the high-pressure water gun 11 and the rotary mop 13 connected with the central processing unit 15 emphatically clean the toilet, and the high-pressure water gun 11 and the rotary mop 13 connected with the electronic nose 14 emphatically clean the urinal.

Claims

1. A toilet cleaning robot comprises a mechanical part and an electronic part, wherein the mechanical part takes a water tank as a main body, an X-shaped heightening step is installed below the water tank, one end of a trapezoid square block of the heightening step is buckled and padded under a driving wheel (1) at the lower half part of the front foot of the robot and a roller of a universal wheel shelf, and the upper half parts of the two front feet of the robot are sleeved with a cylinder leg part with a spring; a high-pressure water gun (11), a rotary mop (13), a camera (12), an infrared probe (9) and a probe roller (10) are arranged below the head part of the water tank, and a water pipe interface (20) and a power line connector (19) are arranged at the tail part of the water tank; the electronic part is connected with a driving motor through an infrared probe (9) and a signal collector (17), a Hall position sensor (16) is connected with a heightening step motor (8), an electronic nose (14), a camera (12) and a central processing unit (15) are connected with a high-pressure water gun (11) and a water pump and a motor of a rotary mop (13), and a bridge rectifier circuit (18) supplies power energy of the whole robot;

the walking characteristics of the toilet cleaning robot are as follows: white stripes are sprayed on the walls and doors of the urine and excrement, the robot is commanded to move forwards, backwards and turn along the walls through an infrared tube along with rollers, when a step appears, a Hall position sensor (16) outputs a forward signal, an X-shaped heightening step motor (8) rotates, a heightening step telescopic arm (7) is driven by a thread to move inwards, the length and the width of the X-shaped heightening step change, two trapezoidal squares move forwards inwards, a driving wheel at the lower half part of the front foot of the buckling and cushioning robot and a roller (2) of a universal wheel shelf roll to the high end of a half trapezoid, and the two front feet of the robot are forced to be extruded into sleeves at the leg parts of the robot by pressure; on the contrary, when the front foot of the robot is suspended in the moving process, the Hall position sensor (16) captures the information, namely, a reverse signal is output to promote the heightening step to move outwards, and the height of the front foot of the robot is reduced; when the infrared probe (9) turns to the isolation door at the stool along with the white stripes, the isolation door is pushed open at the front part of the water tank of the robot due to the guiding effect of the white stripes, and the inside is cleaned;

the cleaning characteristics of the toilet cleaning robot are as follows: information preprocessing is realized through color observation and smell, excrement stains shot by a simulation camera (12), cigarette butts and paper scraps are converted into data, the data are processed by a central processing unit (15), a processor sends instructions to a water pump of a high-pressure water gun (11) and a motor of a rotary mop (13), the water pump and the motor rotate immediately to start spreading and cleaning the excrement stains, after cleaning is finished, a water outlet of a water tank is automatically opened, and the water in the water tank washes the cleaned stains; similarly, the robot has the advantages that the electronic nose (14) can smell odor and peculiar smell at the position of urine, the electronic nose (14) is also connected with a water pump of the high-pressure water gun (11) and a motor of the rotary mop (13), a data processor in the electronic nose (14) sends out the same instruction as the central processing unit (15), and the high-pressure water gun (11) and the rotary mop (13) repeat the same cleaning procedure; when the central processing unit (15) and the electronic nose (14) send instructions at the same time, the robot executes double instructions, and the cleaning flow is unchanged.