CN110897562A - Intelligent device for unmanned cleaning - Google Patents
Intelligent device for unmanned cleaning Download PDFInfo
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- CN110897562A CN110897562A CN201911328559.6A CN201911328559A CN110897562A CN 110897562 A CN110897562 A CN 110897562A CN 201911328559 A CN201911328559 A CN 201911328559A CN 110897562 A CN110897562 A CN 110897562A
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- Prior art keywords
- sewage
- sweeping
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- driving
- water
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
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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
- 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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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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
- 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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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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
- 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
Abstract
The invention discloses an intelligent unmanned cleaning device which comprises a frame, a power supply assembly, a driving mechanism, a sweeping mechanism, a washing mechanism, a sewage recovery mechanism, a water circulation mechanism, an induction mechanism and a control mechanism, wherein the power supply assembly is arranged on the frame; the driving mechanism is used for driving the frame to move; the sweeping mechanism is arranged at the bottom of the front end of the frame, the washing mechanism is arranged at the bottom of the middle part of the frame, and the sewage recovery mechanism is arranged at the bottom of the rear end of the frame; the water circulation mechanism is used for recovering and filtering sewage; the induction mechanism comprises a binocular vision component, a laser radar component for short-distance measurement and an ultrasonic component for long-distance measurement, the binocular vision component and the laser radar component are arranged at the front end of the frame, and the ultrasonic component is arranged around the frame; the control mechanism controls the driving mechanism to move based on the sensing mechanism, and the power supply assembly is used for supplying power to the driving mechanism, the sweeping mechanism, the washing mechanism, the sewage recovery mechanism, the water circulation mechanism, the sensing mechanism and the control mechanism.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to an intelligent unmanned cleaning device.
Background
With the rise of smart homes, more and more unmanned household intelligent devices are popularized, such as floor sweeping robots and floor mopping robots, and no related intelligent cleaning devices exist in the market in the commercial field. Compared with household intelligent equipment, the environment faced by the intelligent cleaning device in the commercial field is more complex, and the intelligent cleaning device also needs to have more functions.
Disclosure of Invention
The invention provides an intelligent unmanned cleaning device which has the characteristics of good automation performance, high intelligent degree, cleanness, high water resource utilization rate and the like.
Correspondingly, the invention provides an intelligent unmanned cleaning device which comprises a frame, a power supply assembly, a driving mechanism, a sweeping mechanism, a washing mechanism, a sewage recovery mechanism, a water circulation mechanism, an induction mechanism and a control mechanism, wherein the power supply assembly is arranged on the frame;
the driving mechanism is used for driving the frame to move;
the sweeping mechanism is arranged at the bottom of the front end of the frame, the washing mechanism is arranged at the bottom of the middle of the frame, and the sewage recovery mechanism is arranged at the bottom of the rear end of the frame;
the water circulation mechanism is used for recovering sewage from the sewage recovery mechanism, filtering the sewage and conveying the filtered sewage to the washing mechanism;
the induction mechanism comprises a binocular vision component, a laser radar component for short-distance measurement and an ultrasonic component for long-distance measurement, the binocular vision component and the laser radar component are arranged at the front end of the frame, and the ultrasonic component is arranged around the frame;
the control mechanism is based on the induction mechanism controls the driving mechanism to move, and the power supply assembly is used for supplying power to the driving mechanism, the floor sweeping mechanism, the washing mechanism, the sewage recovery mechanism, the water circulation mechanism, the induction mechanism and the control mechanism.
In an optional implementation manner, the driving mechanism includes a first driving wheel, a second driving wheel and a plurality of universal wheels, the first driving wheel and the second driving wheel are symmetrically arranged on two sides of the frame, the plurality of universal wheels are arranged at the bottom of the frame, and at least one of the universal wheels is not arranged on a connecting line between the first driving wheel and the second driving wheel;
the first driving wheel and the second driving wheel are driven respectively based on independently controlled driving elements.
In an optional embodiment, the sweeping mechanism comprises a sweeping lifting driving element, a sweeping bracket, a sweeping head rotation driving element and dust collection equipment;
the sweeping support is arranged at the front end of the frame based on a lifting driving element, the sweeping head is rotatably arranged on the sweeping support, and the sweeping head driving element is used for driving the sweeping head to rotate;
sweep the floor the support with sweep and form a dust absorption space between the head, dust collecting equipment with dust absorption space intercommunication.
In an optional embodiment, the washing mechanism comprises a floor brushing lifting driving element, a floor brushing bracket, a floor brushing head rotating driving element and a water spraying device;
the floor brushing support is arranged at the bottom of the middle part of the frame based on the floor brushing lifting driving element, the floor brushing head is rotatably arranged on the floor sweeping support, and the floor brushing head rotating driving element is used for driving the floor brushing head to rotate;
the input end of the sprinkling equipment is connected with the water circulation mechanism, and the output end of the sprinkling equipment is arranged on the ground brushing head.
In an optional embodiment, the sewage recovery mechanism comprises a sewage lifting driving element, a sewage bracket, a sewage absorbing part and a pumping device;
the sewage support is arranged at the bottom of the rear end of the frame based on the sewage lifting driving element, and the sewage absorption part is arranged on the sewage support;
the input end of the pumping equipment is connected with the sewage absorption part, and the output end of the pumping equipment is connected with the water circulation mechanism.
In an alternative embodiment, the water circulation mechanism comprises a water tank; the water tank is divided into a sewage bin and a purified water bin based on a filtering membrane;
the sewage bin is connected with the sewage recovery mechanism, and the purified water bin is connected with the washing mechanism.
In an optional embodiment, the intelligent unmanned sweeping device further comprises a servicing base;
the preparation base comprises a charging assembly used for charging the power supply assembly and a water changing assembly used for changing water in the sewage bin.
In an optional embodiment, the preparation base comprises a fixed seat, a push-out driving element and a push-out panel;
the charging assembly is arranged on the push-out panel, and the water changing assembly is arranged on the push-out panel.
In an alternative embodiment, the water changing assembly comprises a liquid pump, an outflow pipeline and an inflow pipeline, wherein an input port of the outflow pipeline is connected with an output port of the liquid pump, and an output port of the inflow pipeline is connected with an input port of the liquid pump based on a filter chamber;
the output port of the outflow pipeline and the input port of the inflow pipeline are fixed on the push-out panel;
and a one-way water inlet and a one-way water outlet are arranged on the position of one side of the sewage bin, corresponding to the output port of the outflow pipeline and the input port of the inflow pipeline, of the water tank.
In an optional embodiment, the charging assembly comprises a wireless charger disposed on the push-out panel;
the frame is provided with wireless receiver on corresponding to the position of wireless charger, wireless receiver with power supply unit electric connection.
The invention provides an intelligent unmanned cleaning device which has the characteristics of good automation performance, high intelligent degree, cleanness, high water resource utilization rate and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a schematic three-dimensional structure diagram of an unmanned sweeping smart device according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a frame, a power supply assembly and a driving mechanism according to an embodiment of the invention;
fig. 3 shows a schematic three-dimensional structure diagram of the sweeping mechanism according to the embodiment of the invention;
FIG. 4 is a schematic diagram showing a three-dimensional structure of a washing mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing a three-dimensional structure of a wastewater recovery mechanism according to an embodiment of the present invention;
fig. 6 is a front view schematically illustrating the water circulation mechanism according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in different embodiments, due to the change of the component structure, several components named by the same name may have different structures, and for components with different structures but the same name in different embodiments, different numbers are used for distinguishing between different embodiments.
Fig. 1 shows a three-dimensional structure diagram of an intelligent unmanned sweeping device according to an embodiment of the invention.
The invention provides an intelligent unmanned cleaning device which comprises a frame 1, a power supply assembly 8, a driving mechanism 2, a sweeping mechanism 3, a washing mechanism 4, a sewage recovery mechanism 5, a water circulation mechanism 6, an induction mechanism 9 and a control mechanism 7.
The sensing mechanism comprises a binocular vision component 901, a laser radar component 903 for short-distance ranging and an ultrasonic component 902 for long-distance ranging, wherein the binocular vision component 901 and the laser radar component 902 are arranged at the front end of the frame 101, and the ultrasonic component 903 is arranged on the periphery of the frame; in a specific implementation, the lidar assembly 902 and the ultrasonic assembly 903 are mainly used for identifying obstacles, while the binocular vision assembly 901 is used for reconstructing a stereoscopic pattern and for modeling and identifying the degree of ground relief.
Fig. 2 shows a schematic structural diagram of the frame, the power supply assembly and the driving mechanism according to the embodiment of the invention.
Specifically, the frame provided by the embodiment of the invention is built based on the sectional materials, and has the characteristics of low cost, simple structure, convenience in assembly and the like.
The driving mechanism 2 is used for driving the frame 1 to move. In this embodiment, the driving mechanism includes a first driving wheel 201, a second driving wheel 202 and a plurality of universal wheels 203, the first driving wheel 201 and the second driving wheel 202 are symmetrically disposed on two sides of the frame 101, the plurality of universal wheels 203 are disposed at the bottom of the frame 101, and at least one of the universal wheels 203 is disposed at a position other than a connecting line between the first driving wheel 201 and the second driving wheel 202;
in particular, in order to achieve a multidirectional movement of the frame 101, said first traction wheel 201 and second traction wheel 202 are driven respectively based on independently controlled drive elements.
In this embodiment, the first capstan 201 is based on a first drive motor 211, and similarly, the second capstan 202 is driven based on a second drive motor. In addition, in order to keep the balance of the motion of the intelligent unmanned sweeping device, the first driving wheel 201 and the second driving wheel 202 have a certain anti-bump function.
Specifically, one end of a connecting rod 212 is hinged to the frame 101, and the other end of the connecting rod 212 is linked to the frame 101 based on a shock absorber 213; the first driving wheel 201 is hinged to the middle of the connecting rod 212, the first driving motor 211 is fixed on the connecting rod 212, and an output shaft of the first driving motor 211 is connected with the first driving wheel 201.
Similarly, the second driving wheel 202 is disposed in a manner similar to that of the first driving wheel 201, and the embodiment of the present invention is not further described.
In the concrete implementation, through the motion cooperation of first action wheel and second action wheel, can realize unmanned steering and the motion of cleaning intelligent device.
The power supply assembly 8 is used for supplying power to other assemblies, and optionally, the power supply assembly 8 is a storage battery charged by the wireless charger 802.
Fig. 3 shows a schematic three-dimensional structure diagram of the sweeping mechanism according to the embodiment of the invention.
Basically, the sweeping mechanism is arranged at the bottom of the front end of the frame, and the sweeping mechanism comprises a sweeping lifting driving element 301, a sweeping bracket 302, a sweeping head 303, a sweeping head rotating driving element 304 and a dust suction device 306.
Specifically, the support 302 of sweeping the floor is in based on the setting of lift drive component 301 frame 101 front end, specifically, lift drive component 301 can be driving elements such as elevator motor, lift cylinder, also can realize the raising and lowering functions of the support 302 of sweeping the floor based on elevating system under the prior art.
Specifically, the sweeping head 303 is rotatably disposed on the sweeping bracket 302, and the sweeping head driving element 304 is configured to drive the sweeping head 303 to rotate; in this embodiment, the sweeping head driving element 304 is a driving motor, and the sweeping head driving element 304 is fixed on the sweeping bracket 302 and drives the sweeping head 303 to rotate based on the driving belt 305.
Specifically, a dust suction space is formed between the sweeping support 302 and the sweeping head 303, and in order to ensure that the dust suction space has a certain sealing property, the sweeping support 302 protects the sweeping head 303 towards the front and rear directions respectively;
specifically, the dust suction device 306 is fixed to the frame 101, and the dust suction device 306 is communicated with the dust suction space. In particular, the dust extraction device 3 communicates with a dust extraction space on the basis of a dust extraction duct 307, which is not shown in the drawing, since the communication interface of the dust extraction space is arranged on the rear side (not visible in the drawing) of the sweeping carriage 302.
In specific implementation, the sweeping head 303 rotates to bring dust on the ground into the dust collection space, and the dust collection device 306 generates suction (negative pressure) to the dust collection space, so that the dust in the dust collection space is sucked into the dust collection box (mark 306 points to the structure).
Fig. 4 shows a three-dimensional structure diagram of a washing mechanism according to an embodiment of the invention.
The washing mechanism is arranged at the bottom of the middle part of the frame 101, and comprises a brush floor lifting driving element 403, a brush floor bracket 402, a brush floor head 404, a brush floor head rotating driving element 401 and a water spraying device.
The brush support 402 is disposed at the middle bottom of the frame 101 based on the brush lifting driving member 403. Specifically, the brush ground elevation driving element 403 is configured based on a driving motor and a motion conversion structure, specifically, the motion conversion structure converts the rotational motion of the driving motor into a linear motion, so as to realize the elevation driving function of the brush ground support 402.
The floor brushing head 404 (the floor of the floor brushing support 402 is open, the floor brushing head 404 is positioned in the floor brushing support 402) is rotatably arranged on the floor sweeping support 402, and the floor brushing head rotating driving element 404 is used for driving the floor brushing head 404 to rotate.
The input end of the sprinkling equipment is connected with the water circulation mechanism, and the output end of the sprinkling equipment is arranged on the ground brushing head. Specifically, the watering device may be a watering pump (not shown in the drawings), an input end of the watering pump is communicated with a clean water bin of the sewage tank, and an output end of the watering pump is communicated with the floor brushing head 404 based on an interface 405.
In particular implementations, the brush head 404 is configured to brush the floor via a rotational motion, and the sprinkler is configured to sprinkle the area targeted by the brush head 404 to enhance the brushing function of the brush head 404.
Fig. 5 shows a three-dimensional structure diagram of the sewage recovery mechanism according to the embodiment of the invention. The sewage recovery mechanism is arranged at the bottom of the rear end of the frame; specifically, the sewage recovery mechanism comprises a sewage lifting drive element 501, a sewage support 503, a sewage absorption part 504 and a pumping device;
the sewage bracket 503 is arranged at the bottom of the rear end of the frame 101 based on the sewage lifting driving element 501, and specifically, the sewage lifting driving element 501 is arranged in a manner similar to that of the floor brushing lifting driving element 403; specifically, the sewage lifting driving element 501 of the embodiment of the present invention drives the sewage support 503 to perform lifting movement through the connecting plate 502.
Specifically, the sewage absorbing section 504 is provided on the sewage holder 503; alternatively, the sewage absorbing part 503 may be a water absorbing material such as a water absorbing sponge, or as shown in fig. 5, the sewage absorbing part 503 is composed of two adjacent scrapers.
The input end of the pumping equipment is connected with the sewage absorbing part based on a connecting port 505, the output end of the pumping equipment is connected with the water circulation mechanism, and the pumping equipment can suck the sewage of the sewage absorbing part 504 to a sewage bin of the sewage tank.
Fig. 6 is a front view schematically illustrating the water circulation mechanism according to the embodiment of the present invention.
The water circulation mechanism is used for recovering sewage from the sewage recovery mechanism, filtering the sewage and conveying the filtered sewage to the washing mechanism; specifically, the water circulation mechanism of the embodiment of the invention comprises a water tank; the water tank is divided into a sewage bin 601 and a purified water bin 602 based on a filter membrane;
the sewage bin 601 (based on the interface 603) is connected with the sewage recovery mechanism, and the purified water bin 602 (based on the interface 604) is connected with the washing mechanism.
Specifically, unmanned intelligent device that cleans still includes the reorganization and outfit base, the reorganization and outfit base be used for the water tank trades water and does power supply unit 8 charges.
The preparation base comprises a charging assembly used for charging the power supply assembly and a water changing assembly used for changing water in the sewage bin.
Specifically, the preparation base comprises a fixed seat 1001, a push-out driving element 1003 and a push-out panel 1006;
the charging assembly is arranged on the push-out panel, and the water changing assembly is arranged on the push-out panel.
The water changing assembly comprises a liquid pump 1005, an outflow pipeline 1006 and an inflow pipeline 1007, wherein an input port of the outflow pipeline 1006 is connected with an output port of the liquid pump 1005, and an output port of the inflow pipeline 1007 is connected with an input port of the liquid pump 1005 based on a filter chamber 1004;
the output port of the outflow pipe 1006 and the input port of the inflow pipe 1007 are fixed to the push-out panel 1006;
the water tank is provided with a one-way water inlet 606 and a one-way water outlet 607 at positions corresponding to the output port of the outflow pipeline 1006 and the input port of the inflow pipeline 1007 on one side of the sewage bin 601. It should be noted that the unidirectional direction mentioned herein means that the water inlet and the water outlet do not allow water to flow out under default conditions. In specific implementation, when the water tank moves to a designated position, the push-out panel 1006 moves towards the direction of the water tank, the output port of the outflow pipe 1006 and the input port of the inflow pipe 1007 respectively extend into the one-way water inlet 606 and the one-way water outlet 607, and when the liquid pump 1005 is started, sewage flows back into the water tank after being filtered by the filter chamber. Through this embodiment, can shift the impurity in the partial sewage storehouse to the filter chamber in, improve the utilization ratio of water resource.
Specifically, the charging assembly includes a wireless charger 1002, and the wireless charger 1002 is disposed on the push-out panel 1006;
the frame 101 is provided with a wireless receiver at a position corresponding to the wireless charger, and the wireless receiver is electrically connected with the power supply assembly.
In specific implementation, when the intelligent unmanned cleaning device is started, the frame is driven to leave the servicing base based on the driving mechanism; under a preset program, the control mechanism controls the driving mechanism to move along a preset track; correspondingly, in places needing cleaning, the sweeping mechanism, the washing mechanism and the sewage recovery mechanism are lowered to the height of the ground by the control mechanism at the same time when being idle and are started correspondingly; the sensing mechanism judges whether an obstacle exists in a distance or not based on the ultrasonic component, so that the speed is reduced in advance; then, the accurate distance between the laser radar component and the obstacle is judged based on the laser radar component, so that some corner positions can be fully cleaned; the binocular vision component judges whether the sweeping mechanism, the washing mechanism and the sewage recovery mechanism need to be subjected to height adjustment or not according to the obtained environment three-dimensional pattern (the sweeping mechanism, the washing mechanism and the sewage recovery mechanism do not have the function of elastic up-and-down motion); in addition, under the condition of movement without a cleaning task, the sweeping mechanism, the washing mechanism and the sewage recovery mechanism are controlled to move to a high point so as to avoid contacting with the ground. After the cleaning task is executed, the frame returns to the preparation base under the driving of the driving mechanism, the wireless charger of the preparation base charges the induction mechanism, and the water changing assembly brings out impurities in the sewage bin of the water tank.
In conclusion, the invention provides the intelligent unmanned cleaning device which has the characteristics of good automation performance, high intelligent degree, cleanness, high water resource utilization rate and the like.
The unmanned cleaning intelligent device provided by the embodiment of the invention is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An intelligent unmanned cleaning device is characterized by comprising a frame, a power supply assembly, a driving mechanism, a sweeping mechanism, a washing mechanism, a sewage recovery mechanism, a water circulation mechanism, an induction mechanism and a control mechanism;
the driving mechanism is used for driving the frame to move;
the sweeping mechanism is arranged at the bottom of the front end of the frame, the washing mechanism is arranged at the bottom of the middle of the frame, and the sewage recovery mechanism is arranged at the bottom of the rear end of the frame;
the water circulation mechanism is used for recovering sewage from the sewage recovery mechanism, filtering the sewage and conveying the filtered sewage to the washing mechanism;
the induction mechanism comprises a binocular vision component, a laser radar component for short-distance measurement and an ultrasonic component for long-distance measurement, the binocular vision component and the laser radar component are arranged at the front end of the frame, and the ultrasonic component is arranged around the frame;
the control mechanism is based on the induction mechanism controls the driving mechanism to move, and the power supply assembly is used for supplying power to the driving mechanism, the floor sweeping mechanism, the washing mechanism, the sewage recovery mechanism, the water circulation mechanism, the induction mechanism and the control mechanism.
2. The intelligent unmanned sweeping device as defined in claim 1, wherein the driving mechanism comprises a first driving wheel, a second driving wheel and a plurality of universal wheels, the first driving wheel and the second driving wheel are symmetrically disposed on two sides of the frame, the plurality of universal wheels are disposed on the bottom of the frame, and at least one of the universal wheels is not disposed on a connecting line of the first driving wheel and the second driving wheel;
the first driving wheel and the second driving wheel are driven respectively based on independently controlled driving elements.
3. The intelligent unmanned sweeping device according to claim 1, wherein the sweeping mechanism comprises a sweeping lifting driving element, a sweeping bracket, a sweeping head rotating driving element and a dust suction device;
the sweeping support is arranged at the front end of the frame based on a lifting driving element, the sweeping head is rotatably arranged on the sweeping support, and the sweeping head driving element is used for driving the sweeping head to rotate;
sweep the floor the support with sweep and form a dust absorption space between the head, dust collecting equipment with dust absorption space intercommunication.
4. The intelligent unmanned-cleaning device as claimed in claim 1, wherein the brushing mechanism comprises a brush floor lifting drive element, a brush floor bracket, a brush floor head rotation drive element and a water spraying device;
the floor brushing support is arranged at the bottom of the middle part of the frame based on the floor brushing lifting driving element, the floor brushing head is rotatably arranged on the floor sweeping support, and the floor brushing head rotating driving element is used for driving the floor brushing head to rotate;
the input end of the sprinkling equipment is connected with the water circulation mechanism, and the output end of the sprinkling equipment is arranged on the ground brushing head.
5. The intelligent unmanned sweeping device according to claim 1, wherein the sewage recovery mechanism comprises a sewage lifting drive element, a sewage support, a sewage absorption part and a pumping device;
the sewage support is arranged at the bottom of the rear end of the frame based on the sewage lifting driving element, and the sewage absorption part is arranged on the sewage support;
the input end of the pumping equipment is connected with the sewage absorption part, and the output end of the pumping equipment is connected with the water circulation mechanism.
6. The intelligent unmanned-cleaning device of claim 1, wherein the water circulation mechanism comprises a water tank; the water tank is divided into a sewage bin and a purified water bin based on a filtering membrane;
the sewage bin is connected with the sewage recovery mechanism, and the purified water bin is connected with the washing mechanism.
7. The intelligent unmanned-cleaning device of claim 6, further comprising a servicing base;
the preparation base comprises a charging assembly used for charging the power supply assembly and a water changing assembly used for changing water in the sewage bin.
8. The intelligent unmanned-cleaning device as recited in claim 7, wherein the staging base comprises a fixed base, a push-out drive element, and a push-out panel;
the charging assembly is arranged on the push-out panel, and the water changing assembly is arranged on the push-out panel.
9. The intelligent unmanned sweeping device of claim 8, wherein the water changing assembly comprises a liquid pump, an outflow pipe and an inflow pipe, wherein an input port of the outflow pipe is connected with an output port of the liquid pump, and an output port of the inflow pipe is connected with an input port of the liquid pump based on a filter chamber;
the output port of the outflow pipeline and the input port of the inflow pipeline are fixed on the push-out panel;
and a one-way water inlet and a one-way water outlet are arranged on the position of one side of the sewage bin, corresponding to the output port of the outflow pipeline and the input port of the inflow pipeline, of the water tank.
10. The unmanned sweeping smart device of claim 8, wherein the charging assembly comprises a wireless charger disposed on the push-out panel;
the frame is provided with wireless receiver on corresponding to the position of wireless charger, wireless receiver with power supply unit electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911328559.6A CN110897562A (en) | 2019-12-20 | 2019-12-20 | Intelligent device for unmanned cleaning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911328559.6A CN110897562A (en) | 2019-12-20 | 2019-12-20 | Intelligent device for unmanned cleaning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111329403A (en) * | 2020-04-23 | 2020-06-26 | 杭州能发科技有限公司 | Intelligent floor sweeping robot capable of sweeping and drying accumulated water ground |
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